U.S. patent application number 15/138025 was filed with the patent office on 2017-03-02 for autonomous driving vehicle.
This patent application is currently assigned to LG ELECTRONICS INC.. The applicant listed for this patent is LG ELECTRONICS INC.. Invention is credited to Yonggwon KIM, Jieseop SIM.
Application Number | 20170057542 15/138025 |
Document ID | / |
Family ID | 56799296 |
Filed Date | 2017-03-02 |
United States Patent
Application |
20170057542 |
Kind Code |
A1 |
KIM; Yonggwon ; et
al. |
March 2, 2017 |
AUTONOMOUS DRIVING VEHICLE
Abstract
An autonomous driving vehicle is configured to enable mutual
switching between an autonomous driving state and a manual driving
state. The autonomous driving vehicle includes a steering wheel,
and a controller configured to control mechanical linkage or
electrical linkage between the steering wheel and a directional
vehicle wheel so as to be cut off based on whether the autonomous
driving vehicle is in the autonomous driving state or the manual
driving state.
Inventors: |
KIM; Yonggwon; (Seoul,
KR) ; SIM; Jieseop; (Seoul, KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
LG ELECTRONICS INC. |
Seoul |
|
KR |
|
|
Assignee: |
LG ELECTRONICS INC.
Seoul
KR
|
Family ID: |
56799296 |
Appl. No.: |
15/138025 |
Filed: |
April 25, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G05D 1/0088 20130101;
B60W 10/20 20130101; B62D 1/28 20130101; B62D 15/025 20130101; B60K
2370/175 20190501; B60W 2540/18 20130101 |
International
Class: |
B62D 15/02 20060101
B62D015/02; G05D 1/00 20060101 G05D001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Aug 28, 2015 |
KR |
10-2015-0122127 |
Claims
1. An autonomous driving vehicle configured to enable mutual
switching between an autonomous driving state and a manual driving
state, the vehicle comprising: a steering wheel; and a controller
configured to control a mechanical linkage or an electrical linkage
between the steering wheel and a directional vehicle wheel so as to
be disengaged or engaged based on whether the autonomous driving
vehicle is in the autonomous driving state or the manual driving
state, respectively.
2. The vehicle according to claim 1, wherein the controller is
configured to control the mechanical linkage or the electrical
linkage between the steering wheel and the directional vehicle
wheel so as to be disengaged when the autonomous driving vehicle is
in the autonomous driving state.
3. The vehicle according to claim 2, wherein the controller is
configured to perform control to begin a preparation operation to
prepare for autonomous driving when a prescribed event occurs in
the manual driving state.
4. The vehicle according to claim 3, wherein the prescribed event
is user input for switching from the manual driving state to the
autonomous driving state.
5. The vehicle according to claim 3, further comprising an output
unit, wherein the controller is configured to control the output
unit so as to output information regarding switching to autonomous
driving when the preparation operation begins.
6. The vehicle according to claim 3, wherein, when the preparation
operation begins in the state in which the steering wheel is
rotated, the controller is configured to control the mechanical
linkage or the electrical linkage so as to be disengaged while
maintaining the steering wheel in the rotated state.
7. The vehicle according to claim 6, wherein the controller is
configured to control the steering wheel so as to return to an
original state from the rotated state after the mechanical linkage
or the electrical linkage is disengaged.
8. The vehicle according to claim 2, wherein the controller is
configured to perform control to switch to the manual driving state
when it is sensed that the steering wheel is being gripped in the
autonomous driving state in the state in which the steering wheel
and the directional vehicle wheel are not in an engaged state,
thereby controlling the steering wheel and the directional vehicle
wheel so as to be mechanically or electrically linked to each other
while maintaining the steering wheel and the directional vehicle
wheel in the unengaged state.
9. The vehicle according to claim 8, wherein the controller is
configured to perform control to again switch to the autonomous
driving state when the release of the grip of the steering wheel is
sensed after switching to the manual driving state.
10. The vehicle according to claim 8, wherein the controller is
configured to perform control to begin an operation to prepare for
autonomous driving when user input for switching to the autonomous
driving state is received in the state in which the release of the
grip of the steering wheel is sensed after switching to the manual
driving state.
11. The vehicle according to claim 2, wherein the controller is
configured to perform control to temporarily switch to the manual
driving state when user input for lane change is received in the
autonomous driving state.
12. The vehicle according to claim 1, wherein the controller is
configured to control the steering wheel and the directional
vehicle wheel so as to be mechanically or electrically linked to
each other while the autonomous driving vehicle is in the manual
driving state.
13. The vehicle according to claim 12, wherein the controller is
configured to perform control to begin a preparation operation to
prepare for manual driving when a prescribed event occurs in the
autonomous driving state.
14. The vehicle according to claim 13, wherein the prescribed event
is user input for switching from the autonomous driving state to
the manual driving state, or an input corresponding to rotation of
the steering wheel.
15. The vehicle according to claim 13, further comprising an output
unit, wherein the controller is configured to control the output
unit so as to output information regarding switching to manual
driving when the preparation operation begins.
16. The vehicle according to claim 13, wherein the controller is
configured to control the steering wheel and the directional
vehicle wheel so as to be mechanically or electrically linked to
each other for engagement therebetween when the preparation
operation begins.
17. The vehicle according to claim 16, wherein the controller is
configured to control the steering wheel and the directional
vehicle wheel so as to be engaged with each other by rotating the
steering wheel to correspond to a direction of the directional
vehicle wheel.
18. The vehicle according to claim 17, wherein the controller is
configured to adjust a rotational speed of the steering wheel based
on whether it is sensed that the steering wheel is being
gripped.
19. The vehicle according to claim 17, further comprising an output
unit, wherein the controller is configured to control the output
unit so as to output information regarding an engagement state of
the steering wheel and the directional vehicle wheel.
20. The vehicle according to claim 12, wherein the controller is
configured to control the mechanical linkage or the electrical
linkage between the steering wheel and the directional vehicle
wheel so as to be disengaged when an extent of direction change of
the directional vehicle wheel per unit time is equal to a reference
value or more in the manual driving state.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims the priority benefit of Korean
Patent Application No. 10-2015-0122127, filed on Aug. 28, 2015, in
the Korean Intellectual Property Office, the entire disclosure of
which is incorporated herein by reference.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates to autonomous driving
vehicles.
[0004] 2. Description of the Related Art
[0005] A vehicle is an apparatus that transports a user riding
therein in a desired direction. A representative example of a
vehicle may be an automobile.
[0006] In recent years, electronic companies as well as existing
automobile manufacturers have been immersed in the development of
autonomous driving vehicles.
[0007] Autonomous driving vehicles perform autonomous driving via
communication with external devices, or perform autonomous driving
via recognition and judgment of the surrounding environment using
various sensors attached thereto.
[0008] Autonomous driving vehicles need to be manually driven
depending on the situation. That is, autonomous driving vehicles
are provided with driving operation devices such as a steering
wheel, an acceleration pedal, and a brake pedal for manual driving.
Although autonomous driving does not require the driving operation
devices, the driving operation devices of conventional autonomous
driving vehicles have been used in the autonomous driving state so
as to be operated in linkage to vehicle driving. In particular,
when a steering wheel is rotated upon direction change in the
autonomous driving state, this may cause a driver to feel a sense
of disconnectedness and inconvenience.
[0009] Therefore, there is a demand for research and development
related to autonomous driving vehicles which control the cutoff of
linkage between a steering wheel and directional vehicle wheels
based on whether an autonomous driving vehicle is in an autonomous
driving state or in a manual driving state.
SUMMARY OF THE INVENTION
[0010] Therefore, the present invention is made to solve the
problems as described above and an object of the present invention
is to provide an autonomous driving vehicle, which controls the
cutoff of linkage between a steering wheel and directional vehicle
wheels based on whether the autonomous driving vehicle is in an
autonomous driving state or in a manual driving state.
[0011] Objects of the present invention should not be limited to
the aforementioned object and other not-mentioned objects will be
clearly understood by those skilled in the art from the following
description.
[0012] In accordance with an embodiment of the present invention,
the above and other objects can be accomplished by the provision of
an autonomous driving vehicle configured to enable mutual switching
between an autonomous driving state and a manual driving state, the
vehicle including a steering wheel, and a controller configured to
control mechanical linkage or electrical linkage between the
steering wheel and a directional vehicle wheel so as to be cut off
based on whether the autonomous driving vehicle is in the
autonomous driving state or the manual driving state.
[0013] In addition, in the embodiment of the present invention, the
controller may control the mechanical linkage or electrical linkage
between the steering wheel and the directional vehicle wheel so as
to be cut off when the autonomous driving vehicle is in the
autonomous driving state.
[0014] In addition, in the embodiment of the present invention, the
controller may perform control to begin an operation to prepare for
autonomous driving when a prescribed event occurs in the manual
driving state.
[0015] In addition, in the embodiment of the present invention, the
event may be a user input for switching from the manual driving
state to the autonomous driving state.
[0016] In addition, in the embodiment of the present invention, the
autonomous driving vehicle may further include an output unit, and
the controller may control the output unit so as to output
information regarding switching to autonomous driving when the
preparation operation begins.
[0017] In addition, in the embodiment of the present invention,
when the preparation operation begins in the state in which the
steering wheel is rotated, the controller may control the
mechanical linkage or electrical linkage so as to be cut off while
maintaining the steering wheel in the rotated state.
[0018] In addition, in the embodiment of the present invention, the
controller may control the steering wheel so as to return to an
original state thereof from the rotated state after the mechanical
linkage or electrical linkage is cut off.
[0019] In addition, in the embodiment of the present invention, the
controller may perform control to switch to the manual driving
state when it is sensed that the steering wheel is being gripped in
the autonomous driving state in the state in which the steering
wheel and the directional vehicle wheel are not in an engaged
state, thereby controlling the steering wheel and the directional
vehicle wheel so as to be mechanically or electrically linked to
each other while maintaining the steering wheel and the directional
vehicle wheel in the unengaged state.
[0020] In addition, in the embodiment of the present invention, the
controller may perform control to again switch to the autonomous
driving state when the release of the grip of the steering wheel is
sensed after switching to the manual driving state.
[0021] In addition, in the embodiment of the present invention, the
controller may perform control to begin an operation to prepare for
autonomous driving when user input for switching to the autonomous
driving state is received in the state in which the release of the
grip of the steering wheel is sensed after switching to the manual
driving state.
[0022] In addition, in the embodiment of the present invention, the
controller may perform control to temporarily switch to the manual
driving state when user input for lane change is received in the
autonomous driving state.
[0023] In addition, in the embodiment of the present invention, the
controller may control the steering wheel and the directional
vehicle wheel so as to be mechanically or electrically linked to
each other while the autonomous driving vehicle is in the manual
driving state.
[0024] In addition, in the embodiment of the present invention, the
controller may perform control to begin an operation to prepare for
manual driving when a prescribed event occurs in the autonomous
driving state.
[0025] In addition, in the embodiment of the present invention, the
event may be user input for switching from the autonomous driving
state to the manual driving state, or an input corresponding to
rotation of the steering wheel.
[0026] In addition, in the embodiment of the present invention, the
autonomous driving vehicle may further include an output unit, and
the controller may control the output unit so as to output
information regarding switching to manual driving when the
preparation operation begins.
[0027] In addition, in the embodiment of the present invention, the
controller may control the steering wheel and the directional
vehicle wheel so as to be mechanically or electrically linked to
each other for engagement therebetween when the preparation
operation begins.
[0028] In addition, in the embodiment of the present invention, the
controller may control the steering wheel and the directional
vehicle wheel so as to be engaged with each other by rotating the
steering wheel to correspond to a direction of the directional
vehicle wheel.
[0029] In addition, in the embodiment of the present invention, the
controller may adjust a rotational speed of the steering wheel
based on whether it is sensed that the steering wheel is being
gripped.
[0030] In addition, in the embodiment of the present invention, the
autonomous driving vehicle may further include an output unit, and
the controller may control the output unit so as to output
information regarding an engagement state of the steering wheel and
the directional vehicle wheel.
[0031] In addition, in the embodiment of the present invention, the
controller may control the mechanical linkage or electrical linkage
between the steering wheel and the directional vehicle wheel so as
to be cut off when an extent of direction change of the directional
vehicle wheel per unit time is a reference value or more in the
manual driving state.
[0032] Detailed items of other embodiments are included in the
following description and the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0033] The above and other objects, features and advantages of the
present invention will be more clearly understood from the
following detailed description taken in conjunction with the
accompanying drawings, in which:
[0034] FIG. 1 is a view illustrating the external appearance of an
autonomous driving vehicle according to an embodiment of the
present invention;
[0035] FIG. 2 is a plan view of the autonomous driving vehicle
according to an embodiment of the present invention;
[0036] FIG. 3 is a view illustrating a cockpit module of the
autonomous driving vehicle, including a steering wheel, according
to an embodiment of the present invention;
[0037] FIG. 4A is a block diagram of the autonomous driving vehicle
according to an embodiment of the present invention;
[0038] FIG. 4B is a block diagram illustrating the internal
configuration of a driving operation unit according to an
embodiment of the present invention;
[0039] FIG. 5 is a block diagram illustrating the internal
configuration of a vehicle drive unit according to an embodiment of
the present invention;
[0040] FIG. 6 is a flowchart referenced to describe the operation
of the autonomous driving vehicle according to an embodiment of the
present invention;
[0041] FIG. 7 is a flowchart referenced to describe the operation
of the autonomous driving vehicle according to an embodiment of the
present invention;
[0042] FIGS. 8A and 8B are views referenced to describe the linkage
and linkage-cutoff between a steering wheel and directional vehicle
wheels according to an embodiment of the present invention;
[0043] FIGS. 9A to 9C are views referenced to describe the
operation of realizing the linkage between the steering wheel and
the directional vehicle wheels according to an embodiment of the
present invention;
[0044] FIGS. 10A to 11C are views referenced to describe the
operation of cutting off the linkage between the steering wheel and
the directional vehicle wheels according to an embodiment of the
present invention;
[0045] FIGS. 12A to 12J are views referenced to describe the
operation of the autonomous driving vehicle;
[0046] FIGS. 13A to 13J are views referenced to further describe
the operation of the autonomous driving vehicle;
[0047] FIGS. 14A to 14C are views referenced to further describe
the operation of the autonomous driving vehicle;
[0048] FIGS. 15A to 15C are views referenced to further describe
the operation of the autonomous driving vehicle;
[0049] FIGS. 16A to 16D are views referenced to further describe
the operation of the autonomous driving vehicle;
[0050] FIGS. 17A to 17C are views referenced to further describe
the operation of the autonomous driving vehicle;
[0051] FIGS. 18A to 18F are views referenced to further describe
the operation of the autonomous driving vehicle; and
[0052] FIGS. 19A to 19C are views referenced to further describe
the operation of the autonomous driving vehicle.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0053] Hereinafter, the embodiments disclosed in the present
specification will be described in detail with reference to the
accompanying drawings, and the same or similar elements are denoted
by the same reference numerals even though they are depicted in
different drawings and redundant descriptions thereof will be
omitted. In the following description, with respect to constituent
elements used in the following description, suffixes "module" and
"unit" are given or mingled with each other only in consideration
of ease in the ready of the specification, and do not have or serve
as different meanings. Accordingly, the suffixes "module" and
"unit" may be mingled with each other. In addition, in the
following description of the embodiments disclosed in the present
specification, a detailed description of known functions and
configurations incorporated herein will be omitted when it may make
the subject matter of the embodiments disclosed in the present
specification rather unclear. In addition, the accompanying
drawings are provided only for a better understanding of the
embodiments disclosed in the present specification and are not
intended to limit technical ideas disclosed in the present
specification. Therefore, it should be understood that the
accompanying drawings include all modifications, equivalents and
substitutions included in the scope and sprit of the present
invention.
[0054] It will be understood that although the terms first, second,
etc., may be used herein to describe various components, these
components should not be limited by these terms. These terms are
only used to distinguish one component from another component.
[0055] It will be understood that when a component is referred to
as being "connected to" or "coupled to" another component, it may
be directly connected to or coupled to another component or
intervening components may be present. In contrast, when a
component is referred to as being "directly connected to" or
"directly coupled to" another component, there are no intervening
components present. In addition, it will be understood that when a
component is referred to as "controlling" another component, it may
directly control another component, or may also control another
component via the mediation of a third component. In addition, it
will be understood that when a component is referred to as
"providing" another component with information and signals, it may
directly provide another component with the same and may also
provide another component the same via the mediation of a third
component.
[0056] As used herein, the singular form is intended to include the
plural forms as well, unless the context clearly indicates
otherwise.
[0057] In the present application, it will be further understood
that the terms "comprises", includes," etc. specify the presence of
stated features, integers, steps, operations, elements, components,
or combinations thereof, but do not preclude the presence or
addition of one or more other features, integers, steps,
operations, elements, components, or combinations thereof.
[0058] A vehicle as described in this specification may include an
automobile and a motorcycle. Hereinafter, the vehicle will be
described as being an automobile.
[0059] The vehicle as described in this specification may include
all of an internal combustion engine vehicle including an engine as
a power source, a hybrid vehicle including both an engine and an
electric motor as a power source, and an electric vehicle including
an electric motor as a power source.
[0060] In the following description, "the left side of the vehicle"
refers to the left side in the forward driving direction of the
vehicle, and "the right side of the vehicle" refers to the right
side in the forward driving direction of the vehicle.
[0061] In the following description, "forward" refers to the
forward driving direction of the vehicle, and "rearward" refers to
the reverse driving direction of the vehicle.
[0062] FIG. 1 is a view illustrating the external appearance of an
autonomous driving vehicle according to an embodiment of the
present invention, FIG. 2 is a plan view of the autonomous driving
vehicle according to an embodiment of the present invention, and
FIG. 3 is a view illustrating a cockpit module of the autonomous
driving vehicle, including a steering wheel, according to an
embodiment of the present invention.
[0063] Referring to FIGS. 1 to 3, the autonomous driving vehicle
100 according to the embodiment of the present invention may
include wheels 10R, 10L, 20R and 20L, which are rotated by a power
source, and a driving operation unit 200 (see FIG. 4A).
[0064] The driving operation unit 200 may include a steering wheel
401.
[0065] The wheels 10R, 10L, 20R and 20L may include directional
vehicle wheels 10L and 10R. Here, the directional vehicle wheels
10L and 10R mean wheels, the direction of which is changed in
response to a steering input. For example, in the manual driving
state, the directional vehicle wheels 10L and 10R may be changed in
direction to the left side or the right side of the forward
movement direction in response to user steering input using the
steering wheel 401. For example, in the autonomous driving state,
the directional vehicle wheels 10L and 10R may be changed in
direction to the left side or the right side of the forward
movement direction under the control of a controller 170 without
user input.
[0066] The directional vehicle wheels 10L and 10R may include
respectively steering actuators. The directional vehicle wheels 10L
and 10R may be changed in direction upon receiving power from the
steering actuators. Here, the steering actuators for direction
change may be controlled by the controller 170. The steering
actuator may include, for example, a motor, a solenoid, a pneumatic
actuator, an electric actuator, or a hydraulic actuator.
[0067] In the following description, although the directional
vehicle wheels 10L and 10R will be illustrated and described as
front wheels, the directional vehicle wheels may be rear wheels.
Alternatively, the directional vehicle wheels may be all of the
front wheels and rear wheels.
[0068] The steering wheel 401 may be mechanically or electrically
linked to the directional vehicle wheels 10L and 10R.
[0069] The autonomous driving vehicle 100 enables mutual switching
between the autonomous driving state and the manual driving state.
Specifically, the autonomous driving vehicle 100 may switch from
the autonomous driving state to the manual driving state, and may
switch from the manual driving state to the autonomous driving
state.
[0070] The autonomous driving vehicle 100 may switch from the
autonomous driving state to the manual driving state when a
prescribed event occurs. Here, the event may be a user input event
or an event corresponding to the occurrence of a specific
situation. In addition, the autonomous driving vehicle 100 may
switch from the manual driving state to the autonomous driving
state when a prescribed event occurs. Here, the event may be a user
input event or an event corresponding to the occurrence of a
specific situation.
[0071] The autonomous driving vehicle 100 may perform control to
cut off the mechanical linkage or electrical linkage between the
steering wheel 401 and the directional vehicle wheels 10L and
10R.
[0072] The overall length means the length of the autonomous
driving vehicle 100 from the front end to the rear end, the overall
width means the width of the autonomous driving vehicle 100, and
the overall height means the height of the autonomous driving
vehicle 100 from the bottom of the wheels to the roof. In the
following description, the overall length direction L may mean the
reference direction for the measurement of the overall length of
the autonomous driving vehicle 100, the overall width direction W
may mean the reference direction for the measurement of the overall
width of the autonomous driving vehicle 100, and the overall height
direction H may mean the reference direction for the measurement of
the overall height of the autonomous driving vehicle 100.
[0073] FIG. 4A is a block diagram of the autonomous driving vehicle
according to an embodiment of the present invention, FIG. 4B is a
block diagram illustrating the internal configuration of a driving
operation unit according to an embodiment of the present invention,
and FIG. 5 is a block diagram illustrating the internal
configuration of a vehicle drive unit according to an embodiment of
the present invention.
[0074] Referring to FIG. 4A, the autonomous driving vehicle 100 may
include a communication unit 110, an input unit 120, a sensing unit
130, an output unit 140, a vehicle drive unit 150, a memory 160, a
controller 170, an interface unit 180, a power supply unit 190, and
a navigation device 300.
[0075] The communication unit 110 may include a broadcast receiving
module 111, a wireless Internet module 112, a short-range
communication module 113, a location information module 114, an
optical communication module 115, and a V2X communication module
116.
[0076] The broadcast receiving module 111 is configured to receive
broadcast signals or broadcast-associated information from an
external broadcast managing server through a broadcast channel.
Here, broadcast includes radio broadcast or TV broadcast.
[0077] The wireless Internet module 112 is a module for wireless
Internet access. The wireless Internet module 112 may be internally
or externally coupled to the autonomous driving vehicle 100. The
wireless Internet module 112 is configured to transmit or receive
wireless signals via communication networks based on wireless
Internet technologies.
[0078] Examples of such wireless Internet technologies include
Wireless LAN (WLAN), Wireless Fidelity (Wi-Fi), Wi-Fi Direct,
Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro),
Worldwide Interoperability for Microwave Access (WiMAX), High Speed
Downlink Packet Access (HSDPA), High Speed Uplink Packet Access
(HSUPA), Long Term Evolution (LTE), and LTE-A (Long Term
Evolution-Advanced). The wireless Internet module 112 transmits and
receives data according to one or more of such wireless Internet
technologies and other Internet technologies as well. For example,
the wireless Internet module 112 may exchange data with an external
server 32 in a wireless manner. The wireless Internet module 112
may receive weather information and road traffic state information
(e.g., Transport Protocol Expert Group (TPEG) information) from the
external server 32.
[0079] The short-range communication module 113 may assist
short-range communication using at least one selected from among
Bluetooth.TM., Radio Frequency IDdentification (RFID), Infrared
Data Association (IrDA), Ultra-WideBand (UWB), ZigBee, Near Field
Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct,
Wireless USB (Wireless Universal Serial Bus), and the like.
[0080] The short-range communication module 113 may form wireless
area networks to perform the short-range communication between the
autonomous driving vehicle 100 and at least one external device.
For example, the short-range communication module 113 may exchange
data with a mobile terminal 31 in a wireless manner. The
short-range communication module 113 may receive weather
information and road traffic state information (e.g., Transport
Protocol Expert Group (TPEG) information) from the mobile terminal
31. When the user gets into the autonomous driving vehicle 100, the
mobile terminal 31 of the user and the autonomous driving vehicle
100 may pair with each other automatically or as the user executes
a pairing application.
[0081] The location information module 114 is a module to acquire a
location of the autonomous driving vehicle 100. A representative
example of the location information module 114 includes a Global
Position System (GPS) module. For example, when the autonomous
driving vehicle 100 utilizes a GPS module, a location of the
autonomous driving vehicle 100 may be acquired using signals
transmitted from GPS satellites.
[0082] In some embodiments, the location information module 114 may
be a component included in the sensing unit 130, rather than a
component included in the communication unit 110.
[0083] The optical communication module 115 may include a light
emitting unit and a light receiving unit.
[0084] The light receiving unit may convert light into electrical
signals to receive information. The light receiving unit may
include Photo Diodes (PDPs) to receive light. The photo diodes may
convert light into electrical signals. For example, the light
receiving unit may receive information regarding a preceding
autonomous driving vehicle via light emitted from a light source
included in the preceding autonomous driving vehicle.
[0085] The light emitting unit may include at least one light
emitting element to convert electrical signals into light. Here,
the light emitting element may be a Light Emitting Diode (LED). The
light emitting unit converts electrical signals into light to
thereby emit the light. For example, the light emitting unit may
externally emit light via flickering of the light emitting element
corresponding to a prescribed frequency. In some embodiments, the
light emitting unit may include an array of a plurality of light
emitting elements. In some embodiments, the light emitting unit may
be integrated with a lamp provided in the autonomous driving
vehicle 100. For example, the light emitting unit may be at least
one selected from among a headlight, a taillight, a brake light, a
turn signal light, and a sidelight. For example, the optical
communication module 115 may exchange data with another vehicle 33
via optical communication.
[0086] The V2X communication module 116 is a module to perform
wireless communication with the server 32 or the other vehicle 33.
The V2X communication module 116 includes a module in which a
protocol for communication between autonomous driving vehicles
(V2V) or communication between an autonomous driving vehicle and an
infrastructure (V2I) may be implemented. The autonomous driving
vehicle 100 may perform wireless communication with the external
server 32 or the other vehicle 33 via the V2X communication module
116.
[0087] The input unit 120 may include the driving operation unit
200, a sound input unit 123, and a user input unit 124.
[0088] Referring to FIG. 4B, the driving operation unit 200 is
configured to receive a user input for the driving of the
autonomous driving vehicle 100 in a manual mode. The driving
operation unit 200 may include a steering wheel 401, a rotation
sensing unit 402, a first actuator 403, an acceleration pedal 411,
a first position sensor 412, a second actuator 413, a brake pedal
421, a second position sensor 422, and a third actuator 423.
[0089] The steering wheel 401 may receive user input with regard to
the heading direction of the vehicle 100.
[0090] The steering wheel 401 may be mechanically linked to the
directional vehicle wheels 10L and 10R.
[0091] For example, the steering wheel 401 may be mechanically
linked to the directional vehicle wheels 10L and 10R with, for
example, a steering shaft, a steering gear box, a pitman arm, a
drag link, a center link, a tie-rod, a knuckle arm, a steering
knuckle, and a king pin interposed therebetween. At this time, the
direction of the directional vehicle wheels 10L and 10R may be
changed as the power generated by the rotation of the steering
wheel 401 is transmitted to the directional vehicle wheels 10L and
10R. A hydraulic device or a motor may be provided to amplify the
power.
[0092] The steering wheel 401 may be electrically linked to the
directional vehicle wheels 10L and 10R.
[0093] For example, the steering wheel 401 may be electrically
linked to the directional vehicle wheels 10L and 10R without
mechanical linkage. In this instance, information related to the
rotation of the steering wheel 401 may be converted into electrical
signals so as to be transmitted to the steering wheels 10L and 10R.
At this time, the directional vehicle wheels 10L and 10R may
include respective steering actuators which enable change in the
direction of the directional vehicle wheels 10L and 10R, and the
electrical signals may be transmitted to the actuators so as to
change the direction of the directional vehicle wheels 10L and
10R.
[0094] Such electrical linkage may be named "steer-by-wire".
[0095] In the state in which the steering wheel 401 and the
directional vehicle wheels 10L and 10R are linked to each other,
the direction of the directional vehicle wheels 10L and 10R may be
changed to the left side relative to the direction in which the
vehicle is heading when the steering wheel 401 is rotated
counterclockwise by the operation of the user. In addition, the
direction of the directional vehicle wheels 10L and 10R may be
changed to the right side relative to the direction in which the
vehicle is heading when the steering wheel 401 is rotated clockwise
by the operation of the user.
[0096] In addition, in the state in which the steering wheel 401
and the directional vehicle wheels 10L and 10R are linked to each
other, the steering wheel 401 may be rotated counterclockwise when
the direction of the directional vehicle wheels 10L and 10R is
changed to the left direction. In addition, the steering wheel 401
may be rotated clockwise when the direction of the directional
vehicle wheels 10L and 10R is changed to the right direction.
[0097] The rotation sensing unit 402 may sense the rotation of the
steering wheel 401. The rotation sensing unit 402 may sense whether
the steering wheel 401 is rotated, and the rotational direction,
rotational displacement, or rotational speed of the steering wheel
401.
[0098] The first actuator 403 may provide power so as to allow the
steering wheel 401 to be rotated to a prescribed position under the
control of the controller 170. The first actuator 403 may include,
for example, a motor, a solenoid, a pneumatic actuator, an electric
actuator, or a hydraulic actuator.
[0099] The acceleration pedal 411 may receive an input for the
acceleration of the vehicle 100 from the user.
[0100] The first position sensor 412 may sense the pedaling of the
acceleration pedal 411. The first position sensor 412 may sense the
pedaling speed or the pedaling pressure.
[0101] The second actuator 413 may provide power so as to push the
acceleration pedal 411 to a prescribed position under the control
of the controller 170. The second actuator 413 may include, for
example, a motor, a solenoid, a pneumatic actuator, an electric
actuator, or a hydraulic actuator.
[0102] For example, in the case of switching from the autonomous
driving state to the manual driving state, the controller 170 may
control the second actuator 413 so as to allow the acceleration
pedal 411 to be pushed to a position corresponding to the degree of
acceleration of the autonomous driving vehicle 100. The second
actuator 413 may provide power required to allow the acceleration
pedal 411 to be pushed to a position corresponding to the degree of
acceleration under the control of the controller 170. In this way,
the user can drive without feeling a sense of disconnectedness in
the case of switching from the autonomous driving state to the
manual driving state.
[0103] The brake pedal 421 may receive an input for the speed
reduction of the vehicle 100 from the user.
[0104] The second position sensor 422 may sense the pedaling of the
brake pedal 421. The second position sensor 412 may sense the
pedaling speed or the pedaling pressure.
[0105] The third actuator 423 may provide power so as to push the
brake pedal 421 to a prescribed position under the control of the
controller 170. The third actuator 423 may include, for example, a
motor, a solenoid, a pneumatic actuator, an electric actuator, or a
hydraulic actuator.
[0106] For example, in the case of switching from the autonomous
driving state to the manual driving state, the controller 170 may
control the third actuator 424 so as to allow the brake pedal 421
to be pushed to a position corresponding to the degree of speed
reduction of the autonomous driving vehicle 100. The third actuator
423 may provide power required to allow the brake pedal 423 to be
pushed to a position corresponding to the degree of speed reduction
under the control of the controller 170. In this instance, the user
can drive without feeling a sense of disconnectedness in the case
of switching from the autonomous driving state to the manual
driving state.
[0107] Referring again to FIG. 4A, the sound input unit 123 may
process external sound signals into electrical data. The processed
data may be utilized in various ways based on functions that the
autonomous driving vehicle 100 is performing. The sound input unit
123 may convert a user voice command into electrical data. The
converted electrical data may be transmitted to the controller
170.
[0108] In some embodiments, the sound input unit 123 may be a
component included in the sensing unit 130, rather than a component
included in the input unit 120.
[0109] The user input unit 124 serves to receive information from
the user. When information is input via the user input unit 124,
the controller 170 may control the operation of the autonomous
vehicle driving 100 so as to correspond to the input information.
The user input unit 124 may include a touch type input unit or a
mechanical input unit. In some embodiments, the user input unit 124
may be placed at a region of the steering wheel 401. In this
instance, the driver may operate the user input unit 124 with the
fingers while gripping the steering wheel 401.
[0110] The user input unit 124 may include a touchscreen, and may
be integrated with a display unit 141 or a display apparatus.
[0111] The sensing unit 130 may include a camera module 131, a
radar module 132, a light detection and ranging (LiDAR) module 133,
an ultrasonic-wave sensing module 134, and a vehicle state sensing
unit 135.
[0112] The camera module 131 may acquire a vehicle front-view
image, a vehicle rear-view image, or a vehicle surround-view image.
The camera module 131 may detect an object from the acquired
image.
[0113] The camera module 131 may include an image sensor and an
image processing module. The camera module 131 may process a still
image or moving image acquired by the image sensor (e.g., a CMOS or
CCD). The image processing module may extract required information
by processing the still image or moving image acquired by the image
sensor, and may transmit the extracted information to the
controller 170.
[0114] The autonomous driving vehicle 100 may include a front
camera module configured to capture a front-view image of the
autonomous driving vehicle, an around-view camera module configured
to capture a surround-view image of the autonomous driving vehicle,
an internal camera module configured to capture an interior image
of the autonomous driving vehicle, and a rear camera module
configured to capture a rear-view image of the autonomous driving
vehicle. Each of the camera modules may include a lens, an image
sensor, and a processor. The processor may generate data or
information via computing of the captured image, and may transmit
the generated data or information to the controller 170.
[0115] The processor included in the camera module 131 may be
controlled by the controller 170.
[0116] The processor included in the camera module 131 may be
implemented in a hardware manner using at least one selected from
among Application Specific Integrated Circuits (ASICs), Digital
Signal Processors (DSPs), Digital Signal Processing Devices
(DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate
Arrays (FPGAs), processors, controllers, micro-controllers,
microprocessors, and electric units for the implementation of other
functions.
[0117] The camera module 131 may include the front camera module,
the around-view camera module, the internal camera module, and the
rear camera module.
[0118] The front camera module may include a stereo camera module.
In this instance, the processor of the camera module may detect the
distance to an object located in front of the vehicle, the speed
relative to the object detected from the image, and the distance
between a plurality of objects, through the use of the disparity
difference detected from stereo images.
[0119] The front camera module may include a Time of Flight (TOF)
camera module. In this instance, the front camera module may
include a light source (e.g., infrared light or laser) and a
receiver. The processor of the front camera module may detect the
distance to an object located in front of the vehicle, the speed
relative to the object, and the distance between a plurality of
objects based on the TOF, that is, the time taken until infrared or
laser emitted from the light source is reflected by the object and
then received.
[0120] When the front camera module is a mono camera module, the
front camera module may detect the distance to the object and the
speed relative to the object based on variation in the size of the
object located in front of the vehicle with the passage of
time.
[0121] The around-view camera module may include a plurality of
camera modules. For example, the camera modules may be arranged at
the left, rear, right, and front positions of the autonomous
driving vehicle 100.
[0122] A left camera module may be located in a case enclosing a
left side view mirror. Alternatively, the left camera module may be
located at the exterior of the case enclosing the left side view
mirror. Alternatively, the left camera module may be located at a
region of the exterior of a left front door, a left rear door, or a
left fender.
[0123] A right camera module may be located in a case enclosing a
right side view mirror. Alternatively, the right camera module may
be located at the exterior of the case enclosing the right side
view mirror. Alternatively, the right camera module may be located
at a region of the exterior of a right front door, a right rear
door, or a right fender.
[0124] A rear camera module may be located near a rear license
plate or a trunk or tail gate switch.
[0125] A front camera module may be located near an emblem or near
a radiator grill.
[0126] Respective images captured by the camera modules may be
transmitted to the processor of the camera module, and the
processor may compose the respective images to generate a
surround-view image of the autonomous driving vehicle 100. At this
time, the surround-view image of the autonomous driving vehicle 100
may be displayed in the form of a top view image or a bird's eye
image via the display unit 141.
[0127] The internal camera module may capture an image of the
interior of the autonomous driving vehicle 100. The inner camera
module may acquire an image of a passenger.
[0128] The processor of the internal camera module may detect the
number of passengers riding in the vehicle and which seats the
respective passengers are sitting in by acquiring an image of the
passengers inside the autonomous driving vehicle 100. For example,
the internal camera module may detect whether a passenger is
present and the position of the passenger.
[0129] The inner camera module may acquire an image for the
recognition of biometrics of the passenger. The processor of the
inner camera module may verify the ID of the passenger based on the
image of the face of the passenger.
[0130] The rear camera module may include a stereo camera. In this
instance, the processor of the camera module may detect the
distance to an object located at the rear of the vehicle, the speed
relative to the object detected from the image, and the distance
between a plurality of objects, through the use of the disparity
difference detected from stereo images.
[0131] The rear camera module may include a Time of Flight (TOF)
camera module. In this instance, the camera module may include a
light source (e.g., infrared light or laser) and a receiver. The
processor of the camera module may detect the distance to an object
located at the rear of the vehicle, the speed relative to the
object, and the distance between a plurality of objects based on
the TOF, that is, the time until infrared or laser emitted from the
light source is reflected by the object and then received.
[0132] When the rear camera module is a mono camera module, the
rear camera module may detect the distance to the object and the
speed relative to the object based on variation in the size of the
object located at the rear of the vehicle with the passage of
time.
[0133] An object detected by the ultrasonic sensor, radar, or LiDAR
may be utilized by matching it with an object detected from the
image acquired by the camera module 131.
[0134] The radar module 132 may include an electromagnetic wave
transmitter and receiver, and a processor. The radar module 132 may
be implemented in a pulse radar or continuous wave radar manner
based on the principle of electromagnetic wave radiation. In
addition, the radar module 132 may be implemented in a Frequency
Modulated Continuous Wave (FMCW) or Frequency Shift Keying (FSK)
manner based on the signal waveform of the continuous wave
radar.
[0135] The radar module 132 may detect an object based on
transmitted electromagnetic waves, and may detect the distance to
the detected object and the speed relative to the object. In the
case where the object is a stationary object (e.g., a tree,
streetlamp, traffic light, or traffic sign), the radar module 132
may detect the driving speed of the autonomous driving vehicle 100
based on the TOF of the object.
[0136] The LiDAR module 133 may include laser transmitter and
receiver, and a processor. The LiDAR module 133 may be implemented
in a Time of Flight (TOF) manner or phase-shift manner.
[0137] The TOF type LiDAR module 133 emits laser pulse signals, and
receives the pulse signals reflected by the object. The LiDAR
module 133 may measure the distance to the object based on the time
taken for emitted laser pulse signals to be reflected and then
received. In addition, the LiDAR module 133 may measure the speed
relative to the object based on variation in distance over
time.
[0138] The phase-shift type LiDAR module 133 may emit a
continuously modulated laser beam having a specific frequency, and
may measure the distance to the object and time based on variation
in the phase of signals reflected by the object. In addition, the
LiDAR module 133 may measure the speed relative to the object based
on variation in distance over time.
[0139] The LiDAR module 133 may detect an object based on
transmitted laser, and may detect the distance to the detected
object and the speed relative to the object. In the case where the
object is a stationary object (e.g., a tree, streetlamp, traffic
light, or traffic sign), the LiDAR module 133 may detect the
driving speed of the autonomous driving vehicle 100 based on the
TOF of the object.
[0140] The ultrasonic-wave sensing module 134 may include an
ultrasonic wave transmitter and receiver, and a processor.
[0141] The ultrasonic-wave sensing module 134 may detect an object
based on transmitted ultrasonic waves, and may detect the distance
to the detected object and the speed relative to the object. In the
case where the object is a stationary object (e.g., a tree,
streetlamp, traffic light, or traffic sign), the ultrasonic-wave
sensing module 134 may detect the driving speed of the autonomous
driving vehicle 100 based on the TOF of the object.
[0142] The vehicle state sensing unit 135 senses various situations
of the autonomous driving vehicle 100. To this end, the vehicle
state sensing unit 135 may include, for example, a collision
sensor, wheel sensor, speed sensor, gradient sensor, weight sensor,
heading sensor, yaw sensor, gyro sensor, position module,
autonomous driving vehicle forward/reverse sensor, battery sensor,
fuel sensor, tire sensor, steering sensor based on the rotation of
the steering wheel, autonomous driving vehicle interior temperature
sensor, interior humidity sensor, and illuminance sensor.
[0143] As such, the vehicle state sensing unit 135 may acquire
sensing signals with regard to, for example, autonomous driving
vehicle collision information, autonomous driving vehicle direction
information, autonomous driving vehicle location information (GPS
information), autonomous driving vehicle angle information,
autonomous driving vehicle speed information, autonomous driving
vehicle acceleration information, autonomous driving vehicle tilt
information, autonomous driving vehicle forward/reverse
information, battery information, fuel information, tire
information, autonomous driving vehicle lamp information,
autonomous driving vehicle interior temperature information,
autonomous driving vehicle interior humidity information, steering
wheel rotation angle information, and autonomous driving vehicle
exterior illuminance.
[0144] The vehicle state sensing unit 135 may further include, for
example, an accelerator pedal sensor, pressure sensor, engine speed
sensor, Air Flow-rate Sensor (AFS), Air Temperature Sensor (ATS),
Water Temperature Sensor (WTS), Throttle Position Sensor (TPS), Top
Dead Center (TDC) sensor, and Crank Angle Sensor (CAS).
[0145] The output unit 140 is configured to output information
processed in the controller 170. The output unit 140 may include a
display unit 141, a sound output unit 142, and a haptic output unit
143.
[0146] The output unit 140 may output information processed in the
controller 170. For example, the output unit 140 may output
autonomous driving state information or manual driving state
information. For example, the output unit 140 may display
information regarding the linkage between the steering wheel 401
and the directional vehicle wheels 10L and 10R.
[0147] The display unit 141 may display information processed in
the controller 170. For example, the display unit 141 may display
vehicle-associated information. Here, the vehicle-associated
information may include vehicle control information for the direct
control of the vehicle or driver assistance information to guide
the driver's vehicle driving. In addition, the vehicle-associated
information may include vehicle state information that indicates
the current state of the vehicle or vehicle traveling information
regarding the traveling of the vehicle.
[0148] The display unit 141 may include at least one selected from
among a Liquid Crystal Display (LCD), a Thin Film Transistor LCD
(TFT LCD), an Organic Light Emitting Diode (OLED), a flexible
display, a 3D display, and an e-ink display.
[0149] The display unit 141 may configure an inter-layer structure
with a touch sensor, or may be integrally formed with the touch
sensor to implement a touchscreen. The touchscreen may function as
the user input unit 124 which provides an input interface between
the autonomous driving vehicle 100 and the user, and may provide an
output interface between the autonomous driving vehicle 100 and the
user. In this instance, the display unit 141 may include a touch
sensor which senses a touch to the display unit 141 so as to
receive a control command in a touch manner. When a touch is input
to the display unit 141 as described above, the touch sensor may
sense the touch and the controller 170 may generate a control
command corresponding to the touch. Content input in a touch manner
may be characters or numbers, or may be, for example, instructions
in various modes or menu items that may be designated.
[0150] The display unit 141 may include a cluster to allow the
driver to check vehicle state information or vehicle traveling
information while driving the vehicle. The cluster may be located
on a dashboard. In this instance, the driver may check information
displayed on the cluster while looking forward.
[0151] In some embodiments, the display unit 141 may be implemented
as a Head Up display (HUD). When the display unit 141 is
implemented as a HUD, information may be output via a transparent
display provided at the windshield. Alternatively, the display unit
141 may include a projector module to output information via an
image projected to the windshield.
[0152] In some embodiments, the display unit 141 may include a
transparent display. In this instance, the transparent display may
be attached to the windshield.
[0153] The transparent display may have prescribed transparency and
may display a prescribed screen. The transparent display may
include at least one of a transparent Thin Film Electroluminescent
(TFEL), a transparent Organic Light-Emitting Diode (OLED), a
transparent Liquid Crystal Display (LCD), a transmissive
transparent display, and a transparent Light-Emitting Diode (LED)
display. The transparency of the transparent display may be
adjusted.
[0154] The sound output unit 142 is configured to convert
electrical signals from the controller 170 into audio signals and
to output the audio signals. To this end, the sound output unit 142
may include, for example, a speaker. The sound output unit 142 may
output sound corresponding to the operation of the user input unit
124.
[0155] The haptic output unit 143 is configured to generate tactile
output. For example, the haptic output unit 143 may operate to
vibrate a steering wheel, a safety belt, or a seat so as to allow
the user to recognize an output thereof.
[0156] The vehicle drive unit 150 may control the operation of
various devices of the autonomous driving vehicle 100.
[0157] Referring to FIG. 5, the vehicle drive unit 150 may include
a power source drive unit 151, a steering drive unit 152, a brake
drive unit 153, a lamp drive unit 154, an air conditioner drive
unit 155, a window drive unit 156, an airbag drive unit 157, a
sunroof drive unit 158, and a suspension drive unit 159.
[0158] The power source drive unit 151 may perform electronic
control for a power source inside the autonomous driving vehicle
100.
[0159] For example, in the case where a fossil fuel based engine is
a power source, the power source drive unit 151 may perform
electronic control for the engine. As such, the power source drive
unit 151 may control, for example, an output torque of the engine.
In the case where the power source drive unit 151 is the engine,
the power source drive unit 151 may control the speed of the
vehicle by limiting the output torque of the engine under the
control of the controller 170.
[0160] In another example, in the case where an electric motor is a
power source, the power source drive unit 151 may perform control
for the motor. As such, the power source drive unit 151 may
control, for example, the RPM and torque of the motor.
[0161] The steering drive unit 152 may perform electronic control
for a steering apparatus inside the autonomous driving vehicle 100.
As such, the steering drive unit 152 may change the heading
direction of the vehicle.
[0162] The brake drive unit 153 may perform electronic control of a
brake apparatus inside the autonomous driving vehicle 100. For
example, the brake drive unit 153 may reduce the speed of the
autonomous driving vehicle 100 by controlling the operation of
brakes located at wheels. In another example, the brake drive unit
153 may adjust the heading direction of the autonomous driving
vehicle 100 to the left or to the right by differentiating the
operation of respective brakes located at left and right
wheels.
[0163] The lamp drive unit 154 may control the turn-on/turn-off of
lamps arranged inside and outside the vehicle. In addition, the
lamp drive unit 154 may control, for example, the intensity and
direction of light of each lamp. For example, the lamp drive unit
154 may perform control for a turn signal lamp or a brake lamp.
[0164] The air conditioner drive unit 155 may perform the
electronic control of an air conditioner inside the autonomous
driving vehicle 100. For example, when the interior temperature of
the vehicle is high, the air conditioner drive unit 155 may operate
the air conditioner to supply cold air to the interior of the
vehicle.
[0165] The window drive unit 156 may perform the electronic control
of a window apparatus inside the autonomous driving vehicle 100.
For example, the window drive unit 156 may control the opening or
closing of left and right windows of the vehicle.
[0166] The airbag drive unit 157 may perform the electronic control
of an airbag apparatus inside the autonomous driving vehicle 100.
For example, the airbag drive unit 157 may control an airbag to be
deployed in a dangerous situation.
[0167] The sunroof drive unit 158 may perform the electronic
control of a sunroof apparatus inside the autonomous driving
vehicle 100. For example, the sunroof drive unit 158 may control
the opening or closing of a sunroof.
[0168] The suspension drive unit 159 may perform the electronic
control of a suspension apparatus inside the autonomous driving
vehicle 100. For example, in the case where the road surface is
uneven, the suspension drive unit 159 may control the suspension
apparatus to reduce vibration of the autonomous driving vehicle
100.
[0169] Referring again to FIG. 4A, the memory 160 is electrically
connected to the controller 170. The memory 160 may store basic
data for each unit, control data for the operation control of the
unit, and input/output data. The memory 160 may be any of various
storage devices such as, for example, a ROM, a RAM, an EPROM, a
flash drive, and a hard drive. The memory 160 may store various
data for the overall operation of the autonomous driving vehicle
100 such as, for example, programs for the processing or control of
the controller 170.
[0170] The navigation device 300 may provide the autonomous driving
vehicle 100 with routes. The navigation device 300 may receive a
destination input. The navigation device 300 may provide a route to
a received destination.
[0171] The navigation device 300 may include an input unit 320, an
output unit 340, a memory 360, and a processor 370.
[0172] The input unit 320 may receive a destination or driving mode
input from the user. The input unit 320 may include, for example, a
button, touch sensor, microphone, gesture sensor, or camera, which
serves to receive a user input.
[0173] The output unit 340 may output a route or driving-associated
information to the user. The output unit 320 may include a display
unit or a sound output unit.
[0174] The memory 360 may store various kinds of data for the
overall operation of the navigation device 300 such as, for
example, programs for the processing or control of the processor
370. In addition, the memory 360 may store map data. The map data
stored in the memory 360 may be updated via communication with
external devices 31, 32, and 33. At this time, the communication
with the external devices 31, 32 and 33 may be performed via the
communication unit 110 of the autonomous driving vehicle 100.
Alternatively, the navigation device 300 may include a separate
communication module.
[0175] The processor 370 may control the overall operation of each
unit inside the navigation device 300. The processor 370 may match
the destination with a map and set a route to the destination. The
processor 370 may select a route suitable for a received driving
mode from among a plurality of routes.
[0176] For example, when a safe driving mode is selected via the
input unit 320, the processor 370 may select the driving route
having the lowest number of traffic lights and crossroads.
[0177] The controller 170 may control the overall operation of each
unit inside the autonomous driving vehicle 100. The controller 170
may be referred to as an Electronic Control Unit (ECU).
[0178] The controller 170 may control the linkage between the
steering wheel 401 and the directional vehicle wheels 10R and
10L.
[0179] The controller 170 may control the vehicle drive unit 150
based on information or data received via the communication unit
110, the input unit 120, the sensing unit 130 or the navigation
device 300.
[0180] In the autonomous driving state, the controller 170 may
control the vehicle 100 to drive without receiving user input via
the input unit 120, more particularly, the driving operation unit
200. The controller 170 may control the vehicle 100 to drive based
on information or data received via the communication unit 110, the
sensing unit 130, and the navigation device 300.
[0181] In the manual driving state, the controller 170 may control
the vehicle 100 to drive in response to user input received via the
input unit 120, more particularly, the driving operation unit 200.
In some embodiments, the controller 170 may control the vehicle 100
so as to temporarily perform autonomous driving based on data or
information received from the communication unit 110 or the sensing
unit 130.
[0182] The controller 170 may control the output unit 140 so as to
output data or information received via the communication unit 110
or the input unit 120. The controller 170 may control the output
unit 140 so as to output information or data stored in the memory
160. The controller 170 may allow the received information or data
to be directly output, or to be processed and then output. The
controller 170 may control the display unit 141 so as to visually
output information or data. The controller 170 may control the
sound output unit 142 so as to audibly output information or
data.
[0183] The controller 170 may receive sensed information from the
first position sensor 412 and the second position sensor 422.
[0184] The controller 170 may transmit control signals to the first
actuator 403, the second actuator 413, and the third actuator
423.
[0185] The controller 170 may control the mechanical linkage or
electrical linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be cut off based on
whether the autonomous driving vehicle 100 is in the autonomous
driving state or in the manual driving state.
[0186] The controller 170 may control the mechanical linkage or
electrical linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be cut off when the
autonomous driving vehicle 100 is in the autonomous driving
state.
[0187] In the autonomous driving state, the controller 170 may cut
off the linkage between the steering wheel 401 and the directional
vehicle wheels 10L and 10R, thereby preventing the steering wheel
401 from being rotated when the direction of the wheels is
changed.
[0188] In this instance, it is possible to prevent the user from
feeling a sense of disconnectedness and inconvenience caused when
the steering wheel 401 is rotated in the autonomous driving
state.
[0189] The controller 170 may control the autonomous driving
vehicle 100 so as to begin an operation to prepare for autonomous
driving when a prescribed event occurs in the manual driving
state.
[0190] For example, the event may be user input for switching from
the manual driving state to the autonomous driving state. Here, the
user input may be received via the sound input unit 123 or the user
input unit 124. In this instance, the switching from the manual
driving state to the autonomous driving state may be performed
based on the user's will.
[0191] For example, the event may be the occurrence of an accident,
or the prediction of an accident. When an accident occurs or is
predicted, switching to autonomous driving may be performed to
assist the user in responding to a difficult driving situation.
[0192] The controller 170 may control the output unit 140 so as to
output information indicating that switching from the manual
driving state to the autonomous driving state will occur when the
operation to prepare for autonomous driving begins. As the
autonomous driving switching information is output, it is possible
to assist the user in recognizing the current state of the
autonomous driving vehicle 100.
[0193] When the operation to prepare for autonomous driving begins,
the controller 170 may control the mechanical linkage or electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R so as to be cut off.
[0194] When the operation to prepare for autonomous driving begins
in the state in which the steering wheel 401 has been rotated, the
controller 170 may control the mechanical linkage or electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R so as to be cut off while maintaining the
steering wheel 401 in the rotated state.
[0195] In addition, after the mechanical linkage or electrical
linkage is cut off, the controller 170 may control the steering
wheel 401 so as to return to the original state from the rotated
state. Here, the original state of the steering wheel 401 may mean
the state before the steering wheel 401 is rotated. For example,
the original state of the steering wheel 401 may be the state of
the steering wheel 401 in the manual driving state when the
autonomous driving vehicle 100 drives straight.
[0196] For example, when user input for switching to autonomous
driving is received in the state in which the steering wheel 401
has been rotated by user operation while the autonomous driving
vehicle 100 is in the manual driving state, the controller 170 may
control the mechanical linkage or electrical linkage between the
steering wheel 401 and the directional vehicle wheels 10L and 10R
so as to be cut off while maintaining the steering wheel 401 in the
rotated state. In this way, the autonomous driving vehicle 100 may
switch to the autonomous driving state even in the situation in
which the vehicle 100 drives along a curved road as well as the
situation in which the vehicle 100 drives straight.
[0197] When it is sensed that the steering wheel 401 is being
gripped while the autonomous driving vehicle 100 is in the
autonomous driving state, the controller 170 may control the
steering wheel 401 and the directional vehicle wheels 10L and 10R
so as to be mechanically or electrically linked to each other.
Thereafter, the controller 170 may control the autonomous driving
vehicle 100 so as to switch from the autonomous driving state to
the manual driving state. A sensor capable of sensing whether the
user is gripping the steering wheel 401 may be located in the
region of the steering wheel 401. For example, the sensor for
sensing the grip of the steering wheel 401 by the user may be a
touch sensor or a pressure sensor. The grip sensor may sense the
grip pressure of the steering wheel 401.
[0198] When it is sensed that the steering wheel 401 is being
gripped in the state in which the steering wheel 401 is not engaged
with the directional vehicle wheels 10L and 10R while the
autonomous driving vehicle 100 is in the autonomous driving state,
the controller 170 may control the autonomous driving vehicle 100
so as to switch to the manual driving state. In addition, In this
instance, the controller 170 may control the steering wheel 401 and
the directional vehicle wheels 10L and 10R so as to be mechanically
or electrically linked to each other while maintaining the steering
wheel 401 and the directional vehicle wheels 10L and 10R in the
unengaged state. As such, as the autonomous driving vehicle 100
switches to the manual driving state when it is sensed that the
steering wheel 401 is being gripped in the state in which the
steering wheel 401 and the directional vehicle wheels 10L and 10R
are not engaged with each other, the user can directly steer the
autonomous driving vehicle 100 in order to deal with an emergency
situation.
[0199] When it is sensed that the user releases the grip of the
steering wheel 401 in the state in which the autonomous driving
vehicle 100 has switched to the manual driving state based on the
result of sensing that the steering wheel 401 is being gripped, the
controller 170 may control the autonomous driving vehicle 100 so as
to again switch to the autonomous driving state. As such, in the
case where switching to the autonomous driving state is required as
an emergency situation passes, this switching may be easily
performed as the user simply releases the grip of the steering
wheel 401.
[0200] When switched again to the autonomous driving state, the
controller 170 may control the steering wheel 401 so as to return
to the original state. Here, the original state of the steering
wheel 401 may mean the state before the steering wheel 401 is
rotated. For example, the original state of the steering wheel 401
may be the state of the steering wheel 401 when the autonomous
driving vehicle 100 drives straight.
[0201] In some embodiments, after the autonomous driving vehicle
100 has switched to the manual driving state as it is sensed that
the steering wheel 401 is being gripped, the controller 170 may
begin an operation to prepare for autonomous driving in response to
user input for switching to the autonomous driving state in the
state in which it is sensed that the user releases the grip of the
steering wheel 401. In the preparation operation, the controller
170 may release the linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R.
[0202] When the controller 170 receives user input for lane change
while the autonomous driving vehicle 100 is in the autonomous
driving state, the controller 170 may control the autonomous
driving vehicle 100 so as to temporarily switch to the manual
driving state. Here, the user input for lane change may be a manual
turn signal input.
[0203] For example, when lane change is required as a prescribed
situation occurs during autonomous driving, the user may input a
turn signal. At this time, the controller 170 may temporarily
switch the autonomous driving vehicle 100 from the autonomous
driving state to the manual driving state upon receiving the turn
signal input. Thereby, the user can temporarily manually drive the
vehicle. In this instance, the controller 170 may maintain the
manual driving state for a predetermined time after switching from
the autonomous driving state to the manual driving state. After the
predetermined time has passed, the controller 170 may again switch
the autonomous driving vehicle 100 to the autonomous driving
state.
[0204] While the autonomous driving vehicle 100 is in the manual
driving state, the controller 170 may control the steering wheel
401 and the directional vehicle wheels 10L and 10R so as to be
mechanically or electrically linked to each other.
[0205] In the manual driving state, the controller 170 may link the
steering wheel 401 and the directional vehicle wheels 10L and 10R
to each other so as to change the direction of the directional
vehicle wheels 10L and 10R in response to the rotation of the
steering wheel 401.
[0206] When a prescribed event occurs while the autonomous driving
vehicle 100 is in the autonomous driving state, the controller 170
may perform control to begin an operation to prepare for manual
driving.
[0207] For example, the event may be user input for switching from
the autonomous driving state to the manual driving state. Here, the
user input may be received via the sound input unit 123 or the user
input unit 124.
[0208] For example, the event may be an input corresponding to the
rotation of the steering wheel 401 received in the autonomous
driving state. Assuming that the rotation of the steering wheel 401
a predetermined number of times or more is input in the autonomous
driving state, the controller 170 may control the autonomous
driving vehicle 100 so as to switch to the manual driving
state.
[0209] When the operation to prepare for manual driving begins, the
controller 170 may control the output unit 140 so as to output
information indicating switching from the autonomous driving state
to the manual driving state. As such, outputting the information
indicating switching to manual driving may assist the user in
recognizing the current state of the autonomous driving vehicle
100.
[0210] When the operation to prepare for manual driving begins, the
controller 170 may control the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be mechanically or
electrically linked to each other.
[0211] When the operation to prepare for manual driving begins, the
controller 170 may control the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be mechanically or
electrically linked to each other and engaged with each other.
[0212] For example, when the autonomous driving vehicle 100 drives
straight, the controller 170 may control the steering wheel 401 and
the directional vehicle wheels 10L and 10R so as to be mechanically
or electrically linked to each other in the state in which the
vertical reference center axis of the steering wheel 401 is
oriented in the twelve o'clock and six o'clock direction.
[0213] The controller 170 may control the steering wheel 401 and
the directional vehicle wheels 10L and 10R so as to be engaged with
each other by rotating the steering wheel 401 so as to correspond
to the direction of the directional vehicle wheels 10R and 10L. In
this instance, the controller 170 may adjust the rotational speed
of the steering wheel 401 based on whether it is sensed that the
steering wheel 401 is being gripped.
[0214] For example, when the autonomous driving vehicle 100 drives
along the curved road, the controller 170 may control the steering
wheel 401 and the directional vehicle wheels 10L and 10R so as to
be mechanically or electrically linked to each other by rotating
the steering wheel 401 by an angle corresponding to the direction
of the directional vehicle wheels 10R and 10L.
[0215] In this instance, when it is sensed that the steering wheel
401 is being gripped by the user, the controller 170 may rotate the
steering wheel 401 more slowly than that when it is not sensed that
the steering wheel 401 is being gripped. This is because the user
may create a dangerous situation when the user rapidly rotates the
steering wheel 401 while gripping the steering wheel 401.
[0216] The controller 170 may adjust the rotational speed of the
steering wheel 401 based on the sensed grip pressure. Specifically,
the controller 170 may adjust the rotational speed of the steering
wheel 401 in proportion to the sensed grip pressure. When the user
strongly grips the steering wheel 401, the controller 170 may
rotate the steering wheel 401 more slowly than that when the user
weakly grips the steering wheel 401.
[0217] The controller 170 may control the output unit 140 so as to
output information indicating the engagement state of the steering
wheel 401 and the directional vehicle wheels 10R and 10L.
[0218] For example, the controller 170 may control the output unit
140 so as to output information indicating whether the engagement
of the steering wheel 401 and the directional vehicle wheels 10L
and 10R is completed. In this instance, the user may grip the
steering wheel 401 for manual driving after checking whether the
engagement is completed.
[0219] For example, the controller 170 may control the output unit
140 so as to output the time taken until the steering wheel 401 and
the directional vehicle wheels 10R and 10L are engaged with each
other.
[0220] For example, the controller 170 may control the display unit
141 so as to display an image corresponding to the steering wheel
401 and an image corresponding to the directional vehicle wheels
10L and 10R, and the respective images may be an animation for
displaying engagement state information. The controller 170 may
display the rotating angle of the steering wheel 401 and the
directional angle of the directional vehicle wheels 10L and 10R via
the respective images. In addition, the controller 170 may display
the rotational movement of the steering wheel 401 or the
directional vehicle wheels 10L and 10R via the respective
images.
[0221] The controller 170 may control the autonomous driving
vehicle 100 so as to switch to the manual driving state in the
state in which the steering wheel 401 and the directional vehicle
wheels 10L and 10R are mechanically or electrically linked to each
other.
[0222] When the extent of direction change of the directional
vehicle wheels per unit time is a reference value or more while the
autonomous driving vehicle 100 is in the manual driving state, the
controller 170 may control the mechanical linkage or electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R so as to be cut off. As such, when the direction
of the wheels is rapidly changed automatically as an emergency
situation is sensed in the manual driving state, the linkage
between the steering wheel 401 and the directional vehicle wheels
10L and 10R may be cut off, which may alleviate the shock that
would otherwise be applied to the user by the rapid rotation of the
steering wheel 401.
[0223] The controller 170 may control the mechanical linkage or
electrical linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be cut off when the
rotation degree of the steering wheel 401 per unit time is a
reference value or more while the autonomous driving vehicle 100 is
in the manual driving state. As such, even if the user rapidly
rotates the steering wheel 401 in a panic in an emergency situation
in the manual driving state, the controller 170 may cut off the
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R, which may reduce the probability of an
accident.
[0224] The controller 170 may be implemented in a hardware manner
using at least one selected from among Application Specific
Integrated Circuits (ASICs), Digital Signal Processors (DSPs),
Digital Signal Processing Devices (DSPDs), Programmable Logic
Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors,
controllers, micro-controllers, microprocessors, and electric units
for the implementation of other functions.
[0225] The interface unit 180 may serve as a passage with various
kinds of external appliances that are connected to the autonomous
driving vehicle 100. For example, the interface unit 180 may have a
port that is connectable to the mobile terminal 31 and may be
connected to the mobile terminal 31 via the port. In this instance,
the interface unit 180 may exchange data with the mobile terminal
31.
[0226] The interface unit 180 may serve as a passage for supplying
electrical energy to the connected mobile terminal 31. When the
mobile terminal 31 is electrically connected to the interface unit
180, the interface unit 180 may supply electric power from the
power supply unit 190 to the mobile terminal 31 under the control
of the controller 170.
[0227] The power supply unit 190 may supply power required for the
operation of the respective components under the control of the
controller 170. In particular, the power supply unit 190 may
receive power from, for example, a battery inside the autonomous
driving vehicle 100.
[0228] FIG. 6 is a flowchart referenced to describe the operation
of the autonomous driving vehicle according to an embodiment of the
present invention;
[0229] Referring to FIG. 6, when a prescribed event occurs while
the autonomous driving vehicle 100 is in the manual driving state
(S605 and S610), the controller 170 may begin an operation to
prepare for autonomous driving (S620).
[0230] Here, the event may be user input for switching from the
manual driving state to the autonomous driving state. The user
input may be received via the sound input unit 123 or the user
input unit 124. In this instance, the autonomous driving vehicle
100 may switch from the manual driving state to the autonomous
driving state based on the user's will.
[0231] Alternatively, the event may be the occurrence of an
accident, or the prediction of an accident. When an accident occurs
or is predicted, switching to the autonomous driving may assist the
user in responding to a driving impossible situation.
[0232] In some embodiments, when the operation to prepare for
autonomous driving begins, the controller 170 may control the
output unit 140 so as to output information indicating switching
from the manual driving state to the autonomous driving state.
[0233] When the operation to prepare for autonomous driving begins,
the controller 170 may cut off the mechanical linkage or electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R (S640).
[0234] For example, when user input is received via the user input
unit 124 in the state in which the preparation operation has begun,
the controller 170 may cut off the mechanical linkage or electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R.
[0235] When the preparation operation for autonomous driving has
begun in the rotated state of the steering wheel 401, the
controller 170 may control the mechanical linkage or electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R so as to be cut off while maintaining the
steering wheel 401 in the rotated state.
[0236] In addition, the controller 170 may control the steering
wheel 401 to return to the original state thereof from the rotated
state after the mechanical linkage or electrical linkage is cut
off.
[0237] In some embodiments, when the linkage is cut off, the
controller 170 may control the output unit 140 so as to output
information indicating that the mechanical linkage or electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R is cut off.
[0238] In the state in which the mechanical linkage or electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R is cut off, the controller 170 may switch the
autonomous driving vehicle 100 to the autonomous driving state
(S650).
[0239] In this instance, the autonomous driving vehicle 100 may
autonomously drive based on information regarding the destination
set in the navigation device 300 and sensing information received
from the sensing unit 130 under the control of the controller
170.
[0240] When it is sensed that the steering wheel 401 is being
gripped in the autonomous driving state (S660), the controller 170
may control the steering wheel 401 and the directional vehicle
wheels 10L and 10R so as to be mechanically or electrically linked
to each other (S670). A sensor capable of sensing whether the
steering wheel 401 is being gripped by the user may be located in
the region of the steering wheel 401. For example, the sensor to
sense whether the steering wheel 401 is being gripped by the user
may be a touch sensor or a pressure sensor.
[0241] Thereafter, the controller 170 may control the autonomous
driving vehicle 100 so as to switch from the autonomous driving
state to the manual driving state (S680).
[0242] When it is sensed that the steering wheel 401 is being
gripped in the state in which the steering wheel 401 and the
directional vehicle wheels 10L and 10R are not engaged while the
autonomous driving vehicle 100 is in the autonomous driving state,
the controller 170 may switch the autonomous driving vehicle 100 to
the manual driving state. In addition, In this instance, the
controller 170 may control the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be mechanically or
electrically linked to each other while maintaining the steering
wheel 401 and the directional vehicle wheels 10L and 10R in the
unengaged state.
[0243] When it is sensed that the user releases the grip of the
steering wheel 401 after the autonomous driving vehicle 100 has
switched to the manual driving state (S690), the controller 170 may
return to the operation S640 so as to cut off the mechanical
linkage or electrical linkage between the steering wheel 401 and
the directional vehicle wheels 10R and 10L.
[0244] In some embodiments, when it is sensed that the user
releases the grip of the steering wheel 401 in the state in which
the autonomous driving vehicle 100 has switched to the manual
driving state (S690), the controller 170 may return to the
operation S610 so as to begin an operation to prepare for
autonomous driving upon receiving user input for switching to the
autonomous driving state.
[0245] FIG. 7 is a flowchart referenced to describe the operation
of the autonomous driving vehicle according to another embodiment
of the present invention.
[0246] Referring to FIG. 7, when a prescribed event occurs while
the autonomous driving vehicle 100 is in the autonomous driving
state (S705 and S710), the controller 170 may begin an operation to
prepare for manual driving (S720).
[0247] Here, the event may be a user input for switching from the
autonomous driving state to the manual driving state. The user
input may be received via the sound input unit 123 or the user
input unit 124.
[0248] Alternatively, the event may be an input corresponding to
the rotation of the steering wheel 401 received in the autonomous
driving state. Assuming that the rotation of the steering wheel 401
a predetermined number of times or more is input in the autonomous
driving state, the controller 170 may switch the autonomous driving
vehicle 100 to the manual driving state.
[0249] In some embodiments, when the operation to prepare for
manual driving begins, the controller 170 may control the output
unit 140 so as to output information indicating switching from the
autonomous driving state to the manual driving state.
[0250] When the operation to prepare for manual driving begins, the
controller 170 may control the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be mechanically or
electrically linked to each other (S740).
[0251] For example, when user input is received via the user input
unit 124 in the state in which the preparation operation has begun,
the controller 170 may control the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be mechanically or
electrically linked to each other.
[0252] When the preparation operation for manual driving has begun,
the controller 170 controls the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be mechanically or
electrically linked to each other to enable engagement of the
steering wheel 401 and the directional vehicle wheels 10L and
10R.
[0253] The controller 170 may control the output unit 140 so as to
output information indicating the engagement state of the steering
wheel 401 and the directional vehicle wheels 10L and 10R.
[0254] The controller 170 may control the autonomous driving
vehicle 100 so as to switch to the manual driving state in the
state in which the steering wheel 401 and the directional vehicle
wheels 10L and 10R have been mechanically or electrically linked to
each other (S750).
[0255] In this instance, the autonomous driving vehicle 100 may
drive in response to the user input via the input unit 120.
[0256] When it is sensed that the user releases the grip of the
steering wheel 401 for a predetermined time or more in the manual
driving state (S760), the controller 170 may cut off the mechanical
linkage or electrical linkage between the steering wheel 401 and
the directional vehicle wheels 10L and 10R (S770). A sensor capable
of sensing whether the steering wheel 401 is being gripped by the
user may be located in the region of the steering wheel 401. For
example, the sensor to sense the grip of the steering wheel 401 by
the user may be a touch sensor or a pressure sensor.
[0257] Thereafter, the controller 170 may control the autonomous
driving vehicle 100 so as to switch from the manual driving state
to the autonomous driving state (S780).
[0258] When it is sensed that the steering wheel 401 is being
gripped in the state in which the autonomous driving vehicle 100
has switched to the autonomous driving state (S790), the controller
170 may return to the operation S740, so as to control the steering
wheel 401 and the directional vehicle wheels 10L and 10R to be
mechanically or electrically linked to each other.
[0259] In some embodiments, when it is sensed that the steering
wheel 401 is being gripped in the state in which the autonomous
driving vehicle 100 has switched to the autonomous driving state
(S790), the controller 170 may return to the operation S710, so as
to begin an operation to prepare for manual driving when user input
for switching to the manual driving is received.
[0260] FIGS. 8A and 8B are views referenced to describe the linkage
between the steering wheel 401 and the directional vehicle wheels
10L and 10R and the cutoff of linkage according to an embodiment of
the present invention.
[0261] FIG. 8A illustrates the electrical linkage and
linkage-cutoff between the steering wheel 401 and the directional
vehicle wheels 10L and 10R, and FIG. 8B illustrates the mechanical
linkage and linkage-cutoff between the steering wheel 401 and the
directional vehicle wheels 10L and 10R.
[0262] Referring to FIG. 8A, the steering wheel 401 may be
electrically linked to the directional vehicle wheels 10L and
10R.
[0263] The controller 170 may receive rotation information of the
steering wheel 401 from the rotation sensing unit (402 of FIG. 4B).
Here, the rotation information may include whether the steering
wheel 401 is rotated, and the rotational direction, the rotational
displacement and the rotational speed of the steering wheel
401.
[0264] The controller 170 may provide steering actuators 840L and
840R, which provide power to the directional vehicle wheels 10L and
10R, with electrical control signals 830L and 830R. The controller
170 may control the steering actuators 840L and 840R based on the
rotation information.
[0265] For example, when the steering wheel 401 is rotated in the
first direction, by the first angle, and at the first angular
speed, the controller 170 may control the steering actuators 840L
and 840R so as to change the direction of the directional vehicle
wheels 10L and 10R to correspond to the first direction, the first
angle, and the first angular speed.
[0266] The controller 170 may control the steering wheel 401 so as
to be rotated to correspond to the change in the direction of the
directional vehicle wheels 10L and 10R. The controller 170 may
control the first actuator 403 so as to provide power to the
steering wheel 401.
[0267] The electrical linkage between the steering wheel 401 and
the directional vehicle wheels 10L and 10R may be cut off. In this
instance, the controller 170 may control the steering actuators
840L and 840R regardless of the rotation information of the
steering wheel 401.
[0268] Referring to FIG. 8B, the steering wheel 401 may be
mechanically linked to the directional vehicle wheels 10L and
10R.
[0269] For example, the steering wheel 401 may be mechanically
linked to the directional vehicle wheels 10L and 10R with, for
example, a steering shaft, a steering gear box, a pitman arm, a
drag link, a center link, a tie-rod, a knuckle arm, a steering
knuckle, and a king pin interposed therebetween. Here, each unit
located between the steering wheel 401 and the directional vehicle
wheels 10L and 10R may be omitted or added in some embodiments.
[0270] The autonomous driving vehicle 100 may further include a
clutch 890. Here, the clutch 890 may serve to control the
transmission of power from the steering wheel 401 to the
directional vehicle wheels 10L and 10R under the control of the
controller 170.
[0271] The controller 170 may control the clutch 890 so as to
mechanically link the steering wheel 401 to the directional vehicle
wheels 10L and 10R. In this instance, the direction of the
directional vehicle wheels 10L and 10R is changed based on the
rotation of the steering wheel 401. For example, the direction of
the directional vehicle wheels 10L and 10R is changed based on the
rotational direction of the steering wheel 401. For example, the
direction of the directional vehicle wheels 10L and 10R is changed
in proportion to the rotational displacement of the steering wheel
401. For example, the direction of the directional vehicle wheels
10L and 10R is changed in proportion to the rotational speed of the
steering wheel 401.
[0272] The controller 170 may control the clutch 890 so as to cut
off the mechanical linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R.
[0273] In this instance, the direction of the directional vehicle
wheels 10L and 10R is not changed even if the steering wheel 401 is
rotated. In addition, the steering wheel 401 is not rotated even if
the direction of the directional vehicle wheels 10L and 10R is
changed.
[0274] The following description will be centered on the operation
of the autonomous driving vehicle 100 with reference to the
accompanying drawings in the state in which the steering wheel 401
and the directional vehicle wheels 10L and 10R are electrically
linked to each other, or in the state in which the electrical
linkage is cut off.
[0275] The operation of the autonomous driving vehicle 100 in the
state in which the steering wheel 401 and the directional vehicle
wheels 10L and 10R are mechanically linked to each other or in the
state in which the mechanical linkage is cut off may be identical
to that of the case in which the electrical linkage is implemented
or the electrical linkage is cut off.
[0276] FIGS. 9A to 9C are views referenced to describe the
operation when the steering wheel and the directional vehicle
wheels are linked to each other according to an embodiment of the
present invention.
[0277] FIG. 9A illustrates the case where the autonomous driving
vehicle 100 drives straight in the state in which the steering
wheel 401 and the directional vehicle wheels 10L and 10R are
electrically linked to each other.
[0278] In this instance, the steering wheel 401 may maintain the
original state. The original state of the steering wheel 401 may
mean the state before the steering wheel 401 is rotated. The
steering wheel 401 may not be rotated about the center line SCL
which vertically penetrates the center of the steering wheel
401.
[0279] In this instance, the directional vehicle wheels 10L and 10R
may face forward. The direction of the directional vehicle wheels
10L and 10R may not be changed in the left-and-right direction
about the reference line WRL which faces the front of the
autonomous driving vehicle 100. For example, the directional
vehicle wheels 10L and 10R may not be rotated in the left-and-right
direction about the reference line WRL which faces the front of the
autonomous driving vehicle 100.
[0280] FIG. 9B illustrates the case where the autonomous driving
vehicle 100 drives to the left direction in the state in which the
steering wheel 401 and the directional vehicle wheels 10L and 10R
are electrically linked to each other.
[0281] The controller 170 may control the directional vehicle
wheels 101 and 10R so as to be changed in direction to correspond
to the rotation of the steering wheel 401.
[0282] In this instance, the steering wheel 401 may be rotated to
the left direction by an angle .alpha.1 about the center line
SCL.
[0283] In this instance, the direction of the directional vehicle
wheels 10L and 10R may be changed to the left direction by angles
.alpha.2 and .alpha.3, respectively, about the reference line WRL.
For example, the directional vehicle wheels 10L and 10R may be
rotated to the left direction by angles .alpha.2 and .alpha.3,
respectively, about the reference line WRL. In some embodiments,
the angles .alpha.2 and .alpha.3 may be the same, or may be
different.
[0284] Here, the angles .alpha.2 and .alpha.3 may be proportional
to each other.
[0285] FIG. 9C illustrates the case where the autonomous driving
vehicle 100 drives to the right direction in the state in which the
steering wheel 401 and the directional vehicle wheels 10L and 10R
are electrically linked to each other.
[0286] The controller 170 may control the direction of the
directional vehicle wheels 10L and 10R so as to be changed to
correspond to the rotation of the steering wheel 401.
[0287] In this instance, the steering wheel 401 may be rotated to
the right direction by an angle .beta.1 about the center line
SCL.
[0288] In this instance, the direction of the directional vehicle
wheels 10L and 10R may be changed to the right direction by angles
.beta.2 and .beta.3, respectively, about the reference line WRL.
For example, the directional vehicle wheels 10L and 10R may be
rotated to the right direction by angles .beta.2 and .beta.3,
respectively, about the reference line WRL. In some embodiments,
the angles .beta.2 and .beta.3 may be the same, or may be
different.
[0289] Here, the angles .beta.2 and .beta.3 may be proportional to
each other.
[0290] FIGS. 10A to 11C are views referenced to describe the
operation when the linkage between the steering wheel and the
directional vehicle wheels is cut off according to an embodiment of
the present invention.
[0291] FIG. 10A illustrates the case where the autonomous driving
vehicle 100 drives straight in the state in which the electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R is cut off.
[0292] In this instance, the steering wheel 401 may maintain the
original state. The original state of the steering wheel 401 may
mean the state before the steering wheel 401 is rotated. The
steering wheel 401 may not be rotated about the center line SCL
which vertically penetrates the center of the steering wheel
401.
[0293] In this instance, the directional vehicle wheels 10L and 10R
may face forward. The direction of the directional vehicle wheels
10L and 10R may not be changed in the left-and-right direction
about the reference line WRL which faces the front of the
autonomous driving vehicle 100. For example, the directional
vehicle wheels 10L and 10R may not be rotated in the left-and-right
direction about the reference line WRL which faces the front of the
autonomous driving vehicle 100.
[0294] FIG. 10B illustrates the case where the autonomous driving
vehicle 100 drives to the left direction in the state in which the
electrical linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R is cut off.
[0295] The controller 170 may control the directional vehicle
wheels 101 and 10R so as to be changed in direction regardless of
the rotation of the steering wheel 401.
[0296] In this instance, the steering wheel 401 may maintain the
original state. The original state of the steering wheel 401 may
mean the state before the steering wheel 401 is rotated. The
steering wheel 401 may not be rotated about the center line SCL
which vertically penetrates the center of the steering wheel
401.
[0297] In this instance, the direction of the directional vehicle
wheels 10L and 10R may be changed to the left direction by angles
.alpha.2 and .alpha.3, respectively, about the reference line WRL.
For example, the directional vehicle wheels 10L and 10R may be
rotated to the left direction by angles .alpha.2 and .alpha.3,
respectively, about the reference line WRL. In some embodiments,
the angles .alpha.2 and .alpha.3 may be the same, or may be
different.
[0298] FIG. 10C illustrates the case where the autonomous driving
vehicle 100 drives to the right direction in the state in which the
electrical linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R is cut off.
[0299] The controller 170 may control the direction of the
directional vehicle wheels 101 and 10R so as to be changed
regardless of the rotation of the steering wheel 401.
[0300] In this instance, the steering wheel 401 may maintain the
original state. The original state of the steering wheel 401 may
mean the state before the steering wheel 401 is rotated. The
steering wheel 401 may not be rotated about the center line SCL
which vertically penetrates the center of the steering wheel
401.
[0301] In this instance, the direction of the directional vehicle
wheels 10L and 10R may be changed to the right direction by angles
.beta.2 and .beta.3, respectively, about the reference line WRL.
For example, the directional vehicle wheels 10L and 10R may be
rotated to the right direction by angles .beta.2 and .beta.3,
respectively, about the reference line WRL. In some embodiments,
the angles .beta.2 and .beta.3 may be the same, or may be
different.
[0302] FIG. 11A illustrates the case where the autonomous driving
vehicle 100 drives straight in the state in which the electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R is cut off.
[0303] In this instance, the steering wheel 401 may maintain the
original state. The original state of the steering wheel 401 may
mean the state before the steering wheel 401 is rotated. The
steering wheel 401 may not be rotated about the center line SCL
which vertically penetrates the center of the steering wheel
401.
[0304] In this instance, the directional vehicle wheels 10L and 10R
may face forward. The direction of the directional vehicle wheels
10L and 10R may not be changed in the left-and-right direction
about the reference line WRL which faces the front of the
autonomous driving vehicle 100. For example, the directional
vehicle wheels 10L and 10R may not be rotated in the left-and-right
direction about the reference line WRL which faces the front of the
autonomous driving vehicle 100.
[0305] FIG. 11B illustrates the case where the autonomous driving
vehicle 100 drives straight in the state in which the electrical
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R is cut off.
[0306] The controller 170 may perform control to prevent the
directional vehicle wheels 101 and 10R from being changed in
direction regardless of the rotation of the steering wheel 401.
[0307] In this instance, the steering wheel 401 may be rotated to
the left direction by an angle .alpha.1 about the center line
SCL.
[0308] In this instance, the directional vehicle wheels 10L and 10R
may face forward. The direction of the directional vehicle wheels
10L and 10R may not be changed in the left-and-right direction
about the reference line WRL which faces the front of the
autonomous driving vehicle 100. For example, the directional
vehicle wheels 10L and 10R may not be rotated in the left-and-right
direction about the reference line WRL which faces the front of the
autonomous driving vehicle 100.
[0309] FIG. 11C illustrates the case where the autonomous driving
vehicle 100 drives to the right direction in the state in which the
electrical linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R is cut off.
[0310] The controller 170 may control the direction of the
directional vehicle wheels 101 and 10R so as to be changed
regardless of the rotation of the steering wheel 401.
[0311] In this instance, the steering wheel 401 may be rotated to
the right direction by an angle .beta.1 about the center line
SCL.
[0312] In this instance, the directional vehicle wheels 10L and 10R
may face forward. The direction of the directional vehicle wheels
10L and 10R may not be changed in the left-and-right direction
about the reference line WRL which faces the front of the
autonomous driving vehicle 100. For example, the directional
vehicle wheels 10L and 10R may not be rotated in the left-and-right
direction about the reference line WRL which faces the front of the
autonomous driving vehicle 100.
[0313] FIGS. 12A to 12J are views referenced to describe the
operation of the autonomous driving vehicle.
[0314] FIGS. 12A to 12J correspond to the flowchart of FIG. 6.
[0315] As exemplarily illustrated in FIG. 12A, the autonomous
driving vehicle 100 is in the manual driving state. In this
instance, the controller 170 may control the steering wheel 401 and
the directional vehicle wheels 10L and 10R so as to be linked to
each other (as represented by arrows 1210). Here, the steering
wheel 401 and the directional vehicle wheels 10L and 10R may be
mechanically or electrically linked to each other.
[0316] As exemplarily illustrated in FIG. 12B, in the state in
which the steering wheel 401 and the directional vehicle wheels 10L
and 10R are linked to each other, the controller 170 may receive
first user input for switching to the autonomous driving state via
a first user input unit 124a.
[0317] As exemplarily illustrated in FIG. 12C, when the first user
input is received, the controller 170 may perform control to begin
an operation to prepare for autonomous driving.
[0318] When the preparation operation begins, the controller 170
may control the output unit 140 so as to output information
regarding the beginning of the preparation operation.
[0319] For example, the controller 170 may control the display unit
141 so as to display images or text 1230 indicating the information
regarding the beginning of the preparation operation.
[0320] For example, the controller 170 may control the sound output
unit 142 so as to output a voice 1232 indicating information
regarding the beginning of the preparation operation.
[0321] For example, the controller 170 may control a light emitting
unit located in a first region 1233 of the steering wheel 401 so as
to visually display the information regarding the beginning of the
preparation operation. Here, the first region 1233 of the steering
wheel 401 may be the rim region of the steering wheel 401. The
controller 170 may control the light-emitting unit located in the
first region 1233 so as to emit light.
[0322] As exemplarily illustrated in FIG. 12D, in the preparation
operation, the controller 170 may receive second user input to cut
off the linkage between the steering wheel 401 and the directional
vehicle wheels 10L and 10R via a second user input unit 124b.
[0323] As exemplarily illustrated in FIG. 12E, when the second user
input is received, the controller 170 may perform control to cut
off the linkage between the steering wheel 401 and the directional
vehicle wheels 10L and 10R.
[0324] The second user input may be omitted. For example, the
controller 170 may control the linkage between the steering wheel
401 and the directional vehicle wheels 10L and 10R so as to be cut
off after a predetermined time has passed in the state in which the
preparation operation has begun.
[0325] In the state in which the linkage between the steering wheel
401 and the directional vehicle wheels 10L and 10R are cut off, the
controller 170 may control the autonomous driving vehicle 100 so as
to switch to the autonomous driving state.
[0326] In this instance, the controller 170 may control the output
unit 140 so as to output information regarding the completion of
switching to the autonomous driving state.
[0327] For example, the controller 170 may control the display unit
141 so as to display images or text indicating the information
regarding the completion of switching to the autonomous driving
state.
[0328] For example, the controller 170 may control the sound output
unit 142 so as to output a voice indicating the information
regarding the completion of switching to the autonomous driving
state.
[0329] For example, the controller 170 may control light emitting
units located in the first region 1233 and a second region 1234 of
the steering wheel 401 so as to visually display the information
regarding the completion of switching to the autonomous driving
state. Here, the first region 1233 of the steering wheel 401 may be
the rim region of the steering wheel 401. The second region 1234 of
the steering wheel 401 may be the spoke region of the steering
wheel 401. Alternatively, the second region 1234 of the steering
wheel 401 may be the remaining region of the steering wheel 401
excluding the rim region 1233. The controller 170 may control the
light-emitting units located in the first region 1233 and the
second region 1234 so as to emit light.
[0330] As exemplarily illustrated in FIG. 12F, the grip of the
steering wheel 401 by the user may be sensed in the switched
autonomous driving state.
[0331] As exemplarily illustrated in FIG. 12G, when it is sensed
that the steering wheel 401 is being gripped by the user in the
switched autonomous driving state, the controller 170 may control
the steering wheel 401 and the directional vehicle wheels 10L and
10R so as to be linked to each other. Thereafter, in the state in
which the steering wheel 401 and the directional vehicle wheels 10L
and 10R are linked to each other, the controller 170 may control
the autonomous driving vehicle 100 so as to switch to the manual
driving state.
[0332] In this instance, the controller 170 may control the output
unit 140 so as to output information regarding switching to the
manual driving state.
[0333] For example, the controller 170 may control the display unit
141 so as to display images or text indicating the information
regarding switching to the manual driving state.
[0334] For example, the controller 170 may control the sound output
unit 142 so as to output a voice indicating information regarding
switching to the manual driving state.
[0335] For example, the controller 170 may control the light
emitting units located in the first region 1233 and the second
region 1234 of the steering wheel 401 so as to visually display the
information regarding switching to the manual driving state. The
controller 170 may control the light-emitting units located in the
first region 1233 and the second region 1234 so as to emit
light.
[0336] As exemplarily illustrated in FIG. 12H, when it is sensed
that the user releases the grip of the steering wheel 401 in the
manual driving state, the controller 170 may control the linkage
between the steering wheel 401 and the directional vehicle wheels
10L and 10R so as to be cut off.
[0337] As exemplarily illustrated in FIG. 12I, thereafter, in the
state in which the linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R is cut off, the controller
170 may control the autonomous driving vehicle 100 so as to again
switch to the autonomous driving state.
[0338] In this instance, the controller 170 may control the output
unit 140 so as to output information regarding the completion of
switching to the autonomous driving state. The detailed output
method has been described above with reference to FIG. 12E.
[0339] As exemplarily illustrated in FIG. 12J, when it is sensed
that the user releases the grip of the steering wheel 401 in the
manual driving state, the controller 170 may perform control to
begin an operation to prepare for autonomous driving.
[0340] When the operation to prepare for autonomous driving begins,
the controller 170 may control the output unit 140 so as to output
information regarding the beginning of the preparation operation.
The detailed output method has been described above with reference
to FIG. 12C.
[0341] FIGS. 13A to 13J are views referenced to further describe
the operation of the autonomous driving vehicle.
[0342] FIGS. 13A to 13J correspond to the flowchart of FIG. 7.
[0343] As exemplarily illustrated in FIG. 13A, the autonomous
driving vehicle 100 is in the autonomous driving state. In this
instance, the controller 170 may control the linkage between the
steering wheel 401 and the directional vehicle wheels 10L and 10R
so as to be cut off.
[0344] In this instance, the controller 170 may control the output
unit 140 so as to output information regarding the autonomous
driving state.
[0345] For example, the controller 170 may control the display unit
141 so as to display images or text indicating the information
regarding the autonomous driving state.
[0346] For example, the controller 170 may control the sound output
unit 142 so as to output a voice indicating the information
regarding the autonomous driving state.
[0347] For example, the controller 170 may control the light
emitting units located in the first region 1233 and the second
region 1234 of the steering wheel 401 so as to visually display the
information regarding the autonomous driving state. Here, the first
region 1233 of the steering wheel 401 may be the rim region of the
steering wheel 401. The second region 1234 of the steering wheel
401 may be the spoke region of the steering wheel 401.
Alternatively, the second region 1234 of the steering wheel 401 may
be the remaining region of the steering wheel 401 excluding the rim
region 1233. The controller 170 may control the light-emitting
units located in the first region 1233 and the second region 1234
so as to emit light.
[0348] As exemplarily illustrated in FIG. 13B, in the state in
which the linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R is cut off, the controller
170 may receive first user input for switching to the manual
driving state via the first user input unit 124a.
[0349] As exemplarily illustrated in FIG. 13C, when the first user
input is received, the controller 170 may perform control to begin
an operation to prepare for manual driving.
[0350] When the preparation operation begins, the controller 170
may control the output unit 140 so as to output information
regarding the beginning of the preparation operation.
[0351] For example, the controller 170 may control the display unit
141 so as to display images or text 1330 indicating the information
regarding the beginning of the preparation operation.
[0352] For example, the controller 170 may control the sound output
unit 142 so as to output a voice 1332 indicating information
regarding the beginning of the preparation operation.
[0353] For example, the controller 170 may control the light
emitting unit located in the first region 1233 of the steering
wheel 401 so as to visually display the information regarding the
beginning of the preparation operation. Here, the first region 1233
of the steering wheel 401 may be the rim region of the steering
wheel 401. The controller 170 may control the light-emitting unit
located in the first region 1233 so as to emit light.
[0354] As exemplarily illustrated in FIG. 13D, in the preparation
operation, the controller 170 may receive second user input to link
the steering wheel 401 and the directional vehicle wheels 10L and
10R to each other via the second user input unit 124b.
[0355] As exemplarily illustrated in FIG. 13E, when the second user
input is received, the controller 170 may perform control to
implement the linkage 1351 between the steering wheel 401 and the
directional vehicle wheels 10L and 10R.
[0356] The second user input may be omitted. For example, the
controller 170 may perform control to implement the linkage 1351
between the steering wheel 401 and the directional vehicle wheels
10L and 10R after a predetermined time has passed in the state in
which the preparation operation has begun.
[0357] In the state in which the steering wheel 401 and the
directional vehicle wheels 10L and 10R are linked to each other,
the controller 170 may control the autonomous driving vehicle 100
so as to switch to the manual driving state.
[0358] In this instance, the controller 170 may control the output
unit 140 so as to output information regarding the completion of
switching to the manual driving state.
[0359] For example, the controller 170 may control the display unit
141 so as to display images or text indicating the information
regarding the completion of switching to the manual driving
state.
[0360] For example, the controller 170 may control the sound output
unit 142 so as to output a voice indicating the information
regarding the completion of switching to the manual driving
state.
[0361] For example, the controller 170 may control light emitting
units located in the first region 1233 and the second region 1234
of the steering wheel 401 so as to visually display the information
regarding the completion of switching to the autonomous driving
state. The controller 170 may control the light-emitting units
located in the first region 1233 and the second region 1234 so as
to emit light.
[0362] As exemplarily illustrated in FIG. 13F, a condition that the
user releases the grip of the steering wheel 401 may be sensed in
the switched manual driving state.
[0363] As exemplarily illustrated in FIG. 13G, when it is sensed
that the user releases the grip of the steering wheel 401 in the
switched autonomous driving state, the controller 170 may control
the linkage between the steering wheel 401 and the directional
vehicle wheels 10L and 10R so as to be cut off. Thereafter, in the
state in which the linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R is cut off, the controller
170 may control the autonomous driving vehicle 100 so as to switch
to the autonomous driving state.
[0364] In this instance, the controller 170 may control the output
unit 140 so as to output information regarding switching to the
autonomous driving state.
[0365] For example, the controller 170 may control the display unit
141 so as to display images or text indicating the information
regarding switching to the autonomous driving state.
[0366] For example, the controller 170 may control the sound output
unit 142 so as to output a voice indicating information regarding
switching to the autonomous driving state.
[0367] For example, the controller 170 may control the light
emitting units located in the first region 1233 and the second
region 1234 of the steering wheel 401 so as to visually display the
information regarding switching to the manual driving state. The
controller 170 may control the light-emitting units located in the
first region 1233 and the second region 1234 so as to emit
light.
[0368] As exemplarily illustrated in FIG. 13H, when it is sensed
that the user grips the steering wheel 401 in the manual driving
state, the controller 170 may control the steering wheel 401 and
the directional vehicle wheels 10L and 10R so as to be linked to
each other.
[0369] As exemplarily illustrated in FIG. 13I, thereafter, in the
state in which the steering wheel 401 and the directional vehicle
wheels 10L and 10R are linked to each other, the controller 170 may
control the autonomous driving vehicle 100 so as to again switch to
the manual driving state.
[0370] In this instance, the controller 170 may control the output
unit 140 so as to output information regarding the completion of
switching to the manual driving state. The detailed output method
has been described above with reference to FIG. 13E.
[0371] As exemplarily illustrated in FIG. 13J, when it is sensed
that the steering wheel 401 is being gripped by the user in the
autonomous driving state, the controller 170 may perform control to
begin an operation to prepare for manual driving.
[0372] When the operation to prepare for manual driving begins, the
controller 170 may control the output unit 140 so as to output
information regarding the beginning of the preparation operation.
The detailed output method has been described above with reference
to FIG. 13C.
[0373] FIGS. 14A to 14C are views referenced to further describe
the operation of the autonomous driving vehicle.
[0374] FIGS. 14A to 14C illustrate an operation of displaying
direction change information of the directional vehicle wheels 10L
and 10R in the state in which the linkage between the steering
wheel 401 and the directional vehicle wheels 10L and 10R is cut
off.
[0375] Referring to FIG. 14A, the controller 170 may control the
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R so as to be cut off in the autonomous driving
state.
[0376] Referring to FIG. 14B, the direction of the directional
vehicle wheels 10L and 10R may be changed to the left side or the
right side relative the direction in which the vehicle is heading
under the control of the controller 170. For example, the direction
of the directional vehicle wheels 10L and 10R may be changed to the
left direction by an angle .alpha.2 about the reference line
WRL.
[0377] In this instance, the steering wheel 401 is not rotated.
[0378] At least one light emitting unit may be located on the
steering wheel 401. The light emitting unit may emit light under
the control of the controller 170. The light emitting unit may be
located on the rim of the steering wheel 401.
[0379] The controller 170 may control the emission of light from
the light emitting unit located on the steering wheel 401 so as to
correspond to steering information.
[0380] The controller 170 may control the emission of light from
the light emitting unit located on the steering wheel 401 so as to
correspond to change in the direction of the directional vehicle
wheels 10L and 10R.
[0381] For example, the controller 170 may control the number of
light emitting elements which emit light or the area of the light
emitting region of the light-emitting unit based on the extent of
direction change of the directional vehicle wheels 10L and 10R. As
exemplarily illustrated in the drawings, when the direction of the
directional vehicle wheels 10R and 10L is changed to the left side
by an angle .alpha.2 or .alpha.4, the controller 170 may control
the light emitting unit so that light is emitted from the region
1421 corresponding to the angle .alpha.2 or .alpha.4, respectively.
Here, .alpha.2 and .alpha.4 may be proportional to the size of the
region 1421. The light emitting region may be the left region of
the steering wheel 401 corresponding to the changed direction of
the directional vehicle wheels 10L and 10R.
[0382] For example, the controller 170 may control, based on the
speed of direction change of the directional vehicle wheels 10L and
10R, the rate of sequential increase in the area of the light
emitting region or the rate of sequential increase in the number of
light emitting elements of the light-emitting unit.
[0383] Unlike the illustration of the drawings, when the direction
of the directional vehicle wheels 10L and 10R is changed to the
right side relative to the direction in which the vehicle is
heading, the controller 170 may control the light-emitting unit
located in the right region of the steering wheel 401 so as to emit
light.
[0384] When the linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R is cut off while the
autonomous driving vehicle 100 is in the autonomous driving state,
the user cannot know the rotation angle of the directional vehicle
wheels 10L and 10R during autonomous driving.
[0385] As described above with reference to FIGS. 14A to 14C, as
the emission of light from the light emitting unit located on the
steering wheel 401 is controlled to correspond to the direction
change of the directional vehicle wheels 10L and 10R, there is the
effect of assisting the user in intuitively recognizing the extent
of rotation of the directional vehicle wheels 10L and 10R.
[0386] FIGS. 15A to 15C are views referenced to further describe
the operation of the autonomous driving vehicle.
[0387] Referring to FIG. 15A, the controller 170 may control the
linkage between the steering wheel 401 and the directional vehicle
wheels 10L and 10R so as to be cut off in the autonomous driving
state.
[0388] In this instance, the controller 170 may control the output
unit 140 so as to output information regarding the state of the
directional vehicle wheels 10L and 10R.
[0389] For example, the controller 170 may control the display unit
141 so as to display a steering wheel image 1520 and to display
information regarding the state of the directional vehicle wheels
10L and 10R via the steering wheel image 1520.
[0390] For example, the controller 170 may control the display unit
141 so as to display a vehicle image 1510 to display information
regarding the direction change of the directional vehicle wheels
10L and 10R via a directional vehicle wheel image included in the
vehicle image 1510.
[0391] Referring to FIGS. 15B and 15C, the controller 170 may
control the output unit 140 so as to output information regarding
the direction change state of the directional vehicle wheels 10L
and 10R.
[0392] For example, the controller 170 may control the display unit
141 so as to display the steering wheel image 1520 and to display
information regarding the direction change state of the directional
vehicle wheels 10L and 10R via rotation of the steering wheel image
1520. At this time, the steering wheel 401 is not rotated
actually.
[0393] For example, the controller 170 may control the display unit
141 so as to display the vehicle image 1510 and to display
information regarding the direction change state of the directional
vehicle wheels 10L and 10R via rotation of a directional vehicle
wheel image included in the vehicle image 1510.
[0394] As described above with reference to FIGS. 15A to 15C, the
information regarding the direction change state of the directional
vehicle wheels 10L and 10R is output to correspond to the direction
change of the directional vehicle wheels 10L and 10R, there is the
effect of assisting the user in intuitively recognizing the extent
of rotation of the directional vehicle wheels 10L and 10R.
[0395] FIGS. 16A to 16D are views referenced to further describe
the operation of the autonomous driving vehicle.
[0396] Referring to FIG. 16A, the controller 170 may control the
steering wheel 401 and the directional vehicle wheels 10L and 10R
so as to be mechanically or electrically linked to each other (as
represented by arrows 830L and 830R) in the manual driving state.
Although the drawings illustrate the electrical linkage between the
steering wheel 401 and the directional vehicle wheels 10L and 10R,
the steering wheel 401 and the directional vehicle wheels 10L and
10R may be mechanically linked to each other.
[0397] In this instance, the controller 170 may change the
direction of the directional vehicle wheels 10L and 10R based on
whether the steering wheel 401 is rotated and the rotational
direction, the rotational displacement, or the rotational speed of
the steering wheel 401.
[0398] Referring to FIG. 16B, in the state in which the steering
wheel 401 has been rotated, the controller 170 may begin an
operation to prepare for autonomous driving. In this instance, the
controller 170 may control the linkage between the steering wheel
401 and the directional vehicle wheels 10L and 10R so as to be cut
off while maintaining the steering wheel 401 in the rotated state.
Thereafter, the controller 170 may switch the autonomous driving
vehicle 100 to the autonomous driving state.
[0399] When the linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R is cut off, the direction of
the directional vehicle wheels 10L and 10R may be changed
regardless of the rotation of the steering wheel 401.
[0400] Referring to FIG. 16C, the controller 170 may control the
direction change of the directional vehicle wheels 10L and 10R in
the autonomous driving state regardless of the rotation of the
steering wheel 401. In this instance, the direction of the
directional vehicle wheels 10R and 10L may not match the rotation
of the steering wheel 401.
[0401] Referring to FIG. 16D, thereafter, the controller 170 may
control the steering wheel 401 so as to return to the original
state from the rotated state. Here, the original state of the
steering wheel 401 may mean the state before the steering wheel 401
is rotated. The steering wheel 401 may not be rotated in the
vertical direction about the center line SCL which vertically
penetrates the center of the steering wheel 401.
[0402] After the steering wheel 401 is returned to the original
state, the controller 170 may control the direction of the
directional vehicle wheels 10L and 10R in the autonomous driving
state regardless of the rotation of the steering wheel 401.
[0403] FIGS. 17A to 17C are views referenced to further describe
the operation of the autonomous driving vehicle.
[0404] Referring to FIG. 17A, the controller 170 may control the
direction of the directional vehicle wheels 10L and 10R in the
autonomous driving state of the autonomous driving vehicle 100
regardless of the rotation of the steering wheel 401.
[0405] The controller 170 may control the direction of the
directional vehicle wheels 10L and 10R so as to be changed to the
left side or the right side relative to the direction in which the
vehicle is heading in the original state of the steering wheel 401.
In this instance, the steering wheel 401 and the directional
vehicle wheels 10L and 10R may not be engaged with each other.
[0406] Referring to FIG. 17B, the controller 170 may sense that the
steering wheel 401 is being gripped in the state in which the
steering wheel 401 and the directional vehicle wheels 10L and 10R
are not engaged with each other.
[0407] A sensor capable of sensing whether the user is gripping the
steering wheel 401 may be located in the region of the steering
wheel 401. For example, the sensor for sensing the grip of the
steering wheel 401 by the user may be a touch sensor or a pressure
sensor. The grip sensor may sense the grip pressure of the steering
wheel 401. The grip sensor may be located in the overall rim region
of the steering wheel 401 so as to sense that the left hand and the
right hand of the user grips the steering wheel 401.
[0408] When it is sensed that the steering wheel 401 is being
gripped (as represented by reference numeral 1710), the controller
170 may control the steering wheel 401 and the directional vehicle
wheels 10L and 10R so as to be mechanically or electrically linked
to each other (as represented by arrows 830L and 830R) while
maintaining the steering wheel 401 and the directional vehicle
wheels 10L and 10R in the unengaged state. In addition, the
controller 170 may control the autonomous driving vehicle 100 so as
to switch to the manual driving state.
[0409] Referring to FIG. 17C, when the steering wheel 401 is
rotated in the unengaged state, the controller 170 may change the
direction of the directional vehicle wheels 10L and 10R based on
whether the steering wheel 401 is rotated, and the rotational
direction, the rotational displacement, or the rotational speed of
the steering wheel 401.
[0410] As described above, when it is sensed that the steering
wheel 401 is being gripped in the state in which the steering wheel
401 and the directional vehicle wheels 10L and 10R are not engaged,
the autonomous driving vehicle 100 may switch to the manual driving
state, which may assist the user in directly inputting a steering
command in response to an emergency situation.
[0411] FIGS. 18A to 18F are views referenced to further describe
the operation of the autonomous driving vehicle.
[0412] Referring to FIG. 18A, the controller 170 may control the
direction of the directional vehicle wheels 10L and 10R in the
autonomous driving state of the autonomous driving vehicle 100
regardless of the rotation of the steering wheel 401.
[0413] The controller 170 may control the direction of the
directional vehicle wheels 10L and 10R so as to be changed to the
left side or the right side relative to the direction in which the
vehicle is heading in the original state of the steering wheel 401.
In this instance, the steering wheel 401 and the directional
vehicle wheels 10L and 10R may not be engaged with each other.
[0414] In this instance, the controller 170 may control the output
unit 140 so as to output the rotational state of the steering wheel
401. For example, the controller 170 may control the display unit
141 so as to display a steering wheel image 1820. The controller
170 may display the steering wheel image 1820 so as to correspond
to the steering wheel 401. The controller 170 may rotate and
display the steering wheel image 1820 so as to correspond to the
rotated state of the steering wheel 401.
[0415] The controller 170 may control the output unit 140 so as to
output the direction change state of the directional vehicle wheels
10L and 10R. For example, the controller 170 may control the
display unit 141 so as to display a vehicle image 1810 including
the directional vehicle wheels 10L and 10R. The controller 170 may
display a directional vehicle wheels image included in the vehicle
image 1810 so as to correspond to the direction change state of the
directional vehicle wheels 10L and 10R. The controller 170 may
display the direction in which the directional vehicle wheels
included in the vehicle image 1810 faces, and consequently, may
display the direction change state of the directional vehicle
wheels 10L and 10R.
[0416] The controller 170 may control the output unit 140 so as to
output the engagement state of the steering wheel 401 and the
directional vehicle wheels 10L and 10R. For example, the controller
170 may control the display unit 140 so as to display the vehicle
image 1810 and the steering wheel image 1820. The control unit 170
may output the engagement state based on the direction in which the
directional vehicle wheels included in the vehicle image 1810 faces
and whether the direction in which the directional vehicle wheels
faces matches the extent of rotation of the steering wheel 401 in
the steering wheel image 1820. For example, the controller 170 may
control the display unit 141 so as to output the engagement state
in the form of text 1830. For example, the controller 170 may
control the sound output unit 142 so as to output a voice
indicating the engagements state.
[0417] FIG. 18A illustrates the state in which the steering wheel
401 and the directional vehicle wheels 10L and 10R are not engaged
with each other.
[0418] Referring to FIGS. 18B and 18C, when an operation to prepare
for manual driving begins in the state in which the steering wheel
401 and the directional vehicle wheels 10L and 10R are not engaged
with each other, the controller 170 may perform control to engage
the steering wheel 401 and the directional vehicle wheels 10L and
10R with each other. The controller 170 may rotate the steering
wheel 401 (as represented by arrows 1861 and 1862) so as to match
the direction in which the directional vehicle wheels 10L and 10R
face.
[0419] In this instance, the controller 170 may control the output
unit 140 so as to display the situation in which the steering wheel
401 and the directional vehicle wheels 10L and 10R are engaged with
each other. For example, the controller 170 may control the display
unit 141 so as to display vehicle images 1811 and 1812 and steering
wheel images 1821 and 1822. The controller 170 may display the
engagement situation based on the state of the directional vehicle
wheels included in the vehicle images 1811 and 1812 and based on
the rotated state of the steering wheel included in the steering
wheel images 1821 and 1822. For example, the controller 170 may
control the display unit 141 so as to output the engagement
situation in the form of text 1831 and 1832. For example, the
controller 170 may control the sound output unit 142 so as to
output a voice indicating the engagement situation.
[0420] FIG. 18B illustrates the engagement process of the steering
wheel 401 and the directional vehicle wheels 10L and 10R. FIG. 18C
illustrates the completion of engagement between the steering wheel
401 and the directional vehicle wheels 10L and 10R.
[0421] When the engagement between the steering wheel 401 and the
directional vehicle wheels 10L and 10R is completed, the controller
170 may change the direction of the directional vehicle wheels 10L
and 10R in response to the rotation of the steering wheel 401. In
addition, the controller 170 may rotate the steering wheel 401 in
response to the direction change of the directional vehicle wheels
10L and 10R.
[0422] In this instance, the controller 170 may adjust the
rotational speed of the steering wheel 401 based on whether it is
sensed that the steering wheel 401 is being gripped. For example,
when it is sensed that the user is gripping the steering wheel 401,
the controller 170 may rotate the steering wheel 401 more slowly
than that when it is not sensed that the steering wheel 401 is
being gripped. This is because the user may create a dangerous
situation when the user rapidly rotates the steering wheel 401
while gripping the steering wheel 401.
[0423] Referring to FIG. 18D, in the state in which the engagement
between the steering wheel 401 and the directional vehicle wheels
10L and 10R is completed, the controller 170 may control the
steering wheel 401 and the directional vehicle wheels 10L and 10R
so as to be mechanically or electrically linked to each other (as
represented by the arrows 830L and 830R). Thereafter, the
controller 170 may switch the autonomous driving vehicle 100 from
the autonomous driving state to the manual driving state.
[0424] In this instance, the controller 170 may control the output
unit 140 so as to output information regarding the linkage of the
steering wheel 401. For example, the controller 170 may control the
display unit 141 so as to display information regarding the linkage
between the steering wheel 401 and the directional vehicle wheels
10L and 10R in the form of text 1833. For example, the controller
170 may control the sound output unit 142 so as to output a voice
indicating information regarding the linkage between the steering
wheel 401 and the directional vehicle wheels 10L and 10R.
[0425] The controller 170 may control the output unit 140 so as to
output information indicating that the user can grip the steering
wheel 401 because the steering wheel 401 and the directional
vehicle wheels 10L and 10R are linked to each other. For example,
the controller 170 may control the display unit 141 so as to
display information indicating that the user can grip the steering
wheel 401 in the form of text 1834. For example, the controller 170
may control the sound output unit 142 so as to output a voice
indicating information indicating that the user can grip the
steering wheel 401.
[0426] Referring to FIGS. 18E and 18F, after the user grips the
steering wheel 401, the controller 170 may perform control to
rotate the steering wheel 401. The controller 170 may change the
direction of the directional vehicle wheels 10L and 10R in response
to the rotation of the steering wheel 401.
[0427] FIGS. 19A to 19C are views referenced to further describe
the operation of the autonomous driving vehicle.
[0428] Referring to FIG. 19A, the controller 170 may control the
steering wheel 401 and the directional vehicle wheels 10L and 10R
so as to be mechanically or electrically linked to each other while
the autonomous driving vehicle 100 is in the manual driving
state.
[0429] As exemplarily illustrated in FIG. 19B, when the direction
of the directional vehicle wheels 10L and 10R is rapidly changed
(as represented by arrow 1910) in the manual driving state, the
controller 170 may control the mechanical or electrical linkage
between the steering wheel 401 and the directional vehicle wheels
10L and 10R so as to be cut off.
[0430] For example, the extent of direction change of the
directional vehicle wheels 10L and 10R per unit time is a reference
value or more while the autonomous driving vehicle 100 is in the
manual driving state, the controller 170 may control the mechanical
or electrical linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be cut off.
[0431] As described above, in the case where the direction of the
wheels is rapidly changed in the automated manner when an emergency
situation is sensed in the manual driving state, the linkage
between the steering wheel 401 and the directional vehicle wheels
10L and 10R may be cut off, which may alleviate the shock that
would otherwise be applied to the user by the rapid rotation of the
steering wheel 401.
[0432] As exemplarily illustrated in FIG. 19C, when the direction
of the directional vehicle wheels 10L and 10R is rapidly changed
(as represented by arrow 1910) in the manual driving state, the
controller 170 may control the mechanical or electrical linkage
between the steering wheel 401 and the directional vehicle wheels
10L and 10R so as to be cut off.
[0433] For example, when the extent of direction change of the
directional vehicle wheels 10L and 10R per unit time is a reference
value or more while the autonomous driving vehicle 100 is in the
manual driving state, the controller 170 may control the mechanical
or electrical linkage between the steering wheel 401 and the
directional vehicle wheels 10L and 10R so as to be cut off.
[0434] As described above, even if the user rapidly rotates the
steering wheel 401 in a panic in an emergency situation in the
manual driving state, the linkage between the steering wheel 401
and the directional vehicle wheels 10L and 10R is cut off, which
may reduce the probability of an accident.
[0435] The present invention as described above may be implemented
as code that can be written on a computer readable medium in which
a program is recorded and thus read by a computer. The computer
readable medium includes all kinds of recording devices in which
data is stored in a computer readable manner. Examples of the
computer readable recording medium may include a hard disk drive
(HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM,
a RAM, a CD-ROM, a magnetic tape, a floppy disc, and an optical
data storage device. In addition, the computer readable medium is
implemented in a carrier wave (e.g., data transmission over the
Internet). In addition, the computer may include the processor or
the controller 170. Thus, the above detailed description should not
be construed as limited to the embodiments set forth herein in all
terms and be considered by way of example. The scope of the present
invention should be determined by the reasonable interpretation of
the accompanying claims and all changes in the equivalent range of
the present invention are intended to be included in the scope of
the present invention.
[0436] As is apparent from the above description, the embodiments
of the present invention have one or more effects as follows.
[0437] First, because the linkage between a steering wheel and
directional vehicle wheels is cut off in the state in which an
autonomous driving vehicle is in the autonomous driving state,
during autonomous driving, there is no risk of the steering wheel
being rotated even in the case of the direction change of the
vehicle-wheels, which has the effect of preventing a user from
feeling a sense of disconnectedness and inconvenience.
[0438] Second, information related to the linkage between the
steering wheel and the directional vehicle wheels and the cutoff of
linkage is provided to the user, which has the effect of assisting
the user in easily recognizing the linkage state.
[0439] Third, switching between the autonomous steering state and
the manual driving state is implemented based on whether the user
grips the steering wheel, which has the effect of enabling easy
switching.
[0440] Fourth, when the user inputs a steering command by rotating
the steering wheel upon switching from the manual driving state to
the autonomous driving state, the linkage between the steering
wheel and the directional vehicle wheels may be released while the
steering wheel is maintained in the rotated state, which has the
effect of enabling rapid manual switching.
[0441] Fifth, the steering wheel and the directional vehicle wheels
may be controlled so as to be engaged with and linked to each other
upon switching from the autonomous driving state to the manual
driving state, which has the effect of preventing the user from
feeling a sense of disconnectedness.
[0442] Sixth, when the steering wheel is rotated as the direction
of the directional vehicle wheels is changed in the autonomous
driving state, the rotated state of the steering wheel may be
virtually output, which has the effect of preventing the user from
feeling a sense of disconnectedness.
[0443] Effects of the present invention should not be limited to
the aforementioned effects and other not-mentioned effects will be
clearly understood by those skilled in the art from the claims.
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